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\n\u6bd4\u5982IOCR4\u63a7\u5236 Px.4 Px.5 Px.6 Px.7
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\n\u6bcf\u4e2a\u5f15\u811a\u5360\u7528\u77408bit\u3002\u6bd4\u5982PORT1->IOCR4=0x00009000H
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ADRC\u8bfe\u7a0b\u7b14\u8bb0\n<\/h3>

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\n

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\n\u4e00\u4e2a\u63a7\u5236\u7cfb\u7edf\u8981\u4f7f\u8f93\u51fa\u8fc5\u901f\u8ddf\u8e2a\u7ed9\u5b9a\u503c\u6709\u4e24\u4e2a\u9014\u5f84: 1) \u9ad8\u5e26\u5bbd; 2) \u524d\u9988. \u4f46\u662f\u5728\u5de5\u4e1a\u4e0a, \u5e26\u5bbd\u5c31\u662f\u6210\u672c.\u9ad8\u5e26\u5bbd\u867d\u7136\u80fd\u4f7f\u8ddf\u8e2a\u901f\u5ea6\u63d0\u9ad8, \u4f46\u4e5f\u5e26\u6765\u5f88\u591a\u95ee\u9898:1) \u5bf9\u6267\u884c\u673a\u6784\u7684\u54c1\u8d28\u8981\u6c42\u63d0\u9ad8; 2) \u6fc0\u52b1\u4e86\u5bf9\u8c61\u7684\u9ad8\u9891\u52a8\u6001\u4f7f\u63a7\u5236\u95ee\u9898\u590d\u6742\u5316; 3) \u95ed\u73af\u7cfb\u7edf\u7684\u7a33\u5b9a\u88d5\u5ea6\u4e0b\u964d,\u5bf9\u76f8\u4f4d\u6ede\u540e\u548c\u65f6\u95f4\u5ef6\u8fdf\u66f4\u654f\u611f; 4) \u5bf9\u4f20\u611f\u5668\u566a\u58f0\u66f4\u654f\u611f, \u7b49\u7b49.\u9ad8\u5e26\u5bbd\u7684\u6210\u672c\u572820\u4e16 50\u5e74\u4ee3\u5c31\u6709\u4e13\u95e8\u3001\u8be6\u7ec6\u7684\u8ba8\u8bba, \u6bd4\u5982\u6587\u732e[46], \u4f46\u662f\u81f3\u4eca\u6ca1\u80fd\u5728\u7406\u8bba\u754c\u5f15\u8d77\u91cd\u89c6, \u4e43\u81f3\u9ad8\u589e\u76ca\u63a7\u5236\u5668\u3001\u89c2\u6d4b\u5668\u7684\u6587\u7ae0\u6bd4\u6bd4\u7686\u662f, \u800c\u80fd\u7528\u4e0a\u7684\u5374\u5be5\u5be5\u65e0\u51e0. \u8fd9\u53cd\u6620\u4e86\u4e0d\u8003\u8651\u6210\u672c\u7684\u7814\u7a76, \u5728\u5de5\u7a0b\u4e0a\u662f\u6ca1\u6709\u591a\u5c11\u610f\u4e49\u7684\u3002
\n\u5de5\u7a0b\u5e08\u4eec\u5728\u5b9e\u8df5\u4e2d\u57fa\u4e8e\u5bf9\u7cfb\u7edf\u7269\u7406\u7279\u6027\u7684\u77e5\u8bc6\u53d1\u73b0\u4e86\u524d\u9988\u8fd9\u4e2a\u529e\u6cd5. \u8fd9\u79cd\u72ec\u7acb\u4e8e\u53cd\u9988\u56de\u8def\u62df\u5408\u51fa\u7684\u63a7\u5236\u91cf\u901a\u5e38\u662f\u7ed3\u5408\u53c2\u8003\u8f93\u5165, \u4ee5\u6570\u636e\u6216\u56fe\u8868\u5f62\u5f0f\u8868\u793a\u7684,\u5e38\u5e38\u5728\u63a7\u5236\u4fe1\u53f7\u4e2d\u5360\u4e3b\u8981\u90e8\u5206. \u540c\u65f6\u4e5f\u4f7f\u7528PID\u53cd\u9988\u63a7\u5236\u5668, \u53d1\u6325\u5fae\u8c03\u3001\u7ea0\u9519\u7684\u4f5c\u7528. \u56e0\u6b64, \u5de5\u4e1a\u4e0a\u7684PID\u63a7\u5236\u5668\u5e38\u5e38\u662f\u4e0e\u524d\u9988\u63a7\u5236\u7ed3\u5408\u4f7f\u7528\u7684\u3002
\n\u4ee5\u4e0a\u603b\u7ed3\u7684\u662f\u63a7\u5236\u8bba\u7684\u57fa\u672c\u539f\u7406, \u662f\u4ece\u4e8b\u81ea\u52a8\u63a7\u5236\u7684\u4eba\u4eec\u5728\u957f\u671f\u7684\u5de5\u7a0b\u5b9e\u8df5\u4e2d\u53d1\u73b0\u3001\u6316\u6398\u51fa\u6765\u7684, \u662f\u63a7\u5236\u8bba\u7ee7\u7eed\u53d1\u5c55\u7684\u57fa\u77f3. \u8981\u7cfb\u7edf\u5730\u3001\u79d1\u5b66\u5730\u5efa\u7acb\u548c\u53d1\u5c55\u4e00\u5957\u5b8c\u6574\u7684\u7406\u8bba\u4f53\u7cfb, \u5c31\u9700\u8981\u5bf9\u57fa\u672c\u539f\u7406\u8fdb\u884c\u63d0\u70bc\u3001\u62bd\u8c61\u548c\u5347\u534e, \u4f7f\u5f97\u5de5\u7a0b\u63a7\u5236\u7684\u5b9e\u8df5\u80fd\u591f\u66f4\u52a0\u7cfb\u7edf,\u5e76\u4e0d\u65ad\u8fdb\u5165\u66f4\u9ad8\u7684\u5c42\u6b21, \u4ece\u800c\u201c\u4e0b\u5b66\u800c\u4e0a\u8fbe\u201d\u3002<\/p>\n

\u4ecePID\u5230ADRC\n<\/h2>

\u79ef\u5206\u63a7\u5236\u5668\n<\/h3>

\u4e09\u79cd\u77eb\u6b63\u7f51\u7edc\n<\/h3>

\u8d85\u524d\u6821\u6b63\u7f51\u7edc \u6ede\u540e\u77eb\u6b63\u7f51\u7edc \u8d85\u524d-\u6ede\u540e\u77eb\u6b63\u7f51\u7edc
\n\u8fd9\u4e9b\u90fd\u8981\u914d\u5408BODE\u56fe\u53bb\u786e\u5b9a\u9891\u7387\u6307\u6807 \u8bbe\u8ba1\u8f83\u4e3a\u590d\u53e4\uff0c\u8f83\u4e3a\u539f\u59cb\u3002<\/p>\n

wc\u526a\u5207\u9891\u7387\u5904\u7684\u4e2d\u9891\u6bb5\u5bbd\u5ea6\u5bf9\u95ed\u73af\u7cfb\u7edf\u7279\u6027\u6709\u81f3\u5173\u91cd\u8981\u7684\u5f71\u54cd\u3002<\/strong><\/p>\n

\u66f4\u8fdb\u4e00\u6b65—PID\u63a7\u5236\u5668\n<\/h3>

1 \u6781\u70b9\u914d\u7f6e\u65b9\u6cd5\u8c03\u8282PID\u53c2\u6570
\n\u786e\u5b9a\u6781\u70b9\u4f4d\u7f6e\u6765\u5bf9\u95ed\u73af\u7cfb\u7edf\u7684Kp Ki\u8fdb\u884c\u786e\u5b9a\u3002
\n
\n\u8fd9\u91cc\u6781\u70b9\u914d\u7f6e \u6839\u636e\u4e00\u9636\u7cfb\u7edf \u4e8c\u9636\u7cfb\u7edf \u7684\u9636\u8dc3\u54cd\u5e94\u66f2\u7ebf\u6765\u6839\u636e\u671f\u671b\u7684TS\u8c03\u8282\u65f6\u95f4\u6839\u636e\u7ecf\u9a8c\u9009\u53d6\u3002
\n<\/p>\n


\n2 ZN\u65b9\u6cd5\u8c03\u8282PID\u53c2\u6570<\/p>\n

3 \u7ecf\u9a8c\u65b9\u6cd5<\/p>\n

\u79ef\u5206\u4e32\u8054\u578b\u63a7\u5236\n<\/h3>

\u7b80\u5355\u7406\u60f3\u53d1\u52a8\u673a\u8f6c\u901f\u63a7\u5236\u6a21\u578b\uff1a\n<\/h4>

\u4ece\u626d\u77e9 \u6216\u8005\u7535\u538b\u8c03\u6574\u8f6c\u901f \u8fd9\u5c5e\u4e8e\u4e00\u9636\u7cfb\u7edf\u3002\u91c7\u7528\u6bd4\u4f8b\u63a7\u5236\u5373\u53ef\u5f88\u597d\u7684\u8fdb\u884c\u63a7\u5236 \u5982\u4e0b\u56fe\u6240\u793a\u8bbe\u8ba1\u63a7\u5236\u8fc7\u7a0b\u3002
\n
\n\u4ece\u529b\u77e9\u5230\u8f6c\u901f\u8fd9\u5c5e\u4e8e\u79ef\u5206\u73af\u8282<\/strong>\uff1a\u5982\u4e0b
\n$$\nJ\\dot{\\omega}=M\n$$
\nJ\u662f\u8f6c\u52a8\u60ef\u91cf\uff0c\u8f6c\u901f\u7531w\u7684\u5bfc\u6570\u8868\u793a\u3002M\u4e3a\u529b\u77e9\u3002
\n\u5219\u53ef\u4ee5\u5f97\u5230w\u4e0eM\u7684\u5173\u7cfb\u5982\u4e0b
\n$$\n\\frac{\\omega}{M}=\\frac{1}{Js}\n$$
\n
\n\u8bbe\u8ba1\u5982\u4e0b\uff1a
\n<\/p>\n

\u7b80\u5355\u7406\u60f3\u53d1\u52a8\u673a\u8f6c\u89d2\u63a7\u5236\u6a21\u578b\uff1a\n<\/h4>


\n$$\n\\frac{\\theta}{M}=\\frac{1}{Js^2}\n$$
\n\u8bbe\u8ba1\u6bd4\u4f8b\u5fae\u5206PD\u63a7\u5236\u5668\u3002<\/p>\n

<\/p>\n

\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0c\u51e0\u4e4e\u6ca1\u6709\u4e0a\u8ff0\u4e24\u79cd\u7406\u60f3\u7cfb\u7edf\u3002
\n\u4e00\u9636\u7cfb\u7edf\u6709\u6469\u64e6\u5b58\u5728\u65f6\uff0c\u4e8c\u9636\u7cfb\u7edf\u6709\u6469\u64e6\u5b58\u5728\u65f6\uff0c\u4f20\u7edf\u63a7\u5236\u65b9\u6cd5\u9002\u7528\u6027\u4e0d\u518d\u597d\u3002
\n\u79ef\u5206\u4e32\u8054\u578b\u771f\u7684\u597d\u5f88\u5bb9\u6613\u63a7\u5236\uff0c\u4f46\u662f\u5b9e\u9645\u7cfb\u7edf\u6ca1\u6709\u3002\u6211\u4eecADRC\u9700\u8981\u6784\u9020\u8fd9\u79cd\u7cfb\u7edf\u3002<\/p>\n

\u8bef\u5dee\u79ef\u5206\u88ab\u52a8\u8865\u507f-\u521b\u9020\u7406\u60f3\u7cfb\u7edf\n<\/h3>

\u4f20\u7edf\u5f15\u5165\u79ef\u5206\u63a7\u5236\uff0c\u4fbf\u662f\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u578b\u522b\u3002\u4f46\u662f\u4e0d\u4e00\u5b9a\u4f1a\u597d\u7528\u3002<\/p>\n

\u4f20\u7edf\u53d1\u52a8\u673a\u63a7\u5236\u7535\u8111\u4e2d\uff0c\u4f1a\u6709\u51e0\u5343\u4e2aPID\u53c2\u6570\u8868\uff0c\u7528\u4e8e\u5bf9\u5e94\u4e0d\u540c\u7684\u53d1\u52a8\u673a\u5de5\u4f5c\u73af\u5883\u3002<\/p>\n

\u603b\u6270\u52a8\u7684\u6982\u5ff5\n<\/h3>

\u6269\u5f20\u72b6\u6001\u89c2\u6d4b\u5668ESO-\u4f30\u8ba1\u603b\u6270\u52a8\n<\/h3>

\u4e2a\u4eba\u7406\u89e3\uff1a\u6269\u5f20\u72b6\u6001\u89c2\u6d4b\u5668\uff0c\u5373\u5728\u539f\u672c\u89c2\u6d4b\u5668\u7684\u57fa\u7840\u4e0a\uff0c\u52a0\u5165\u79ef\u5206\u73af\u8282\uff08\u4e00\u4e2a\u79ef\u5206\u73af\u8282\u5bf9\u5e94\u4e00\u4e2a\u72b6\u6001\uff0c\u4e5f\u5c31\u662f\u76f4\u89c2\u7684\u6269\u5f20\u51fa\u6765\u4e86\u4e00\u4e2a\u72b6\u6001\uff09\u3002\u4f7f\u5f97\u603b\u6270\u52a8\u7684\u4f30\u8ba1\u80fd\u591f\u6d88\u9664\u7a33\u6001\u8bef\u5dee\u3002<\/strong>
\n\u7cfb\u7edf\u7c7b\u4f3c\u4e0b\u56fe\uff0c\u4f7f\u7528Simulink\u6a21\u5757\u7b80\u5355\u753b\u4e00\u4e0b\uff0c\u8868\u793a\u4e00\u4e0b
\n
\n\u679c\u7136\u53cd\u6b65\u6cd5\u7684\u8bbe\u8ba1\u8fc7\u7a0b\u662f\u91cd\u8981\u7684\uff0c\u8fd9\u6837\u770b\u6765\u4e5f\u6709\u4e00\u5b9a\u76f8\u4f3c\u4e4b\u5904\u3002
\n\u89c2\u6d4b\u5668\uff0c\u89c2\u5bdf\u6bcf\u4e00\u4e2a\u72b6\u6001\u7684\u6f14\u53d8\u8fc7\u7a0b\uff0c\u6240\u4ee5\u7528\u5bfc\u6570\u3002\u4e5f\u5c31\u662f\u72b6\u6001\u65b9\u7a0b\u3002
\n
\n\u603b\u6270\u52a8f\u7684\u5bfc\u4e0d\u77e5\u9053\uff0c\u5148\u5199\u4e00\u4e2ah\u3002
\n\u89c2\u6d4b\u5668\u4f7f\u7528\u6d4b\u91cf\u7684\u504f\u5dee\u4e0e\u4f30\u8ba1\u7684\u504f\u5dee\u3002\u5206\u522b\u77eb\u6b63\u4e86\u6240\u6709\u72b6\u6001\u7684\u5fae\u5206\u65b9\u7a0b\u3002\u53ea\u8981\u53c2\u6570\u03b2123\u8c03\u8282\u597d\uff0c\u5c31\u53ef\u4ee5\u51c6\u786e\u4f30\u8ba1\u603b\u6270\u52a8\u3002\u4fbf\u53ef\u4ee5\u6539\u9020\u51fa\u79ef\u5206\u4e32\u8054\u578b\u7406\u60f3\u7cfb\u7edf\u3002\u8fdb\u800c\u53ef\u4ee5\u5f88\u597d\u7684\u63a7\u5236\u7cfb\u7edf\u3002<\/strong>
\n
\n\u8fd9\u6837\u539f\u672cY\u7684\u4e8c\u9636\u5bfc\u53ea\u7b49\u4e8eU0
\n\u6b64\u65f6U0\u91c7\u7528\u6bd4\u4f8b\u5fae\u5206\u63a7\u5236\u5373\u53ef\u5b9e\u73b0\u5b8c\u5168\u63a7\u5236\u3002<\/p>\n

\u6269\u5f20\u72b6\u6001\u89c2\u6d4b\u5668ESO-\u5982\u4f55\u9009\u62e9\u03b2123\uff1f\n<\/h3>

\u5bf9\u4e8e
\n$$\n\\dot{y}=ay+bu\n$$
\n\u7ed9\u5b9a\u4e00\u4e2a\u9636\u8dc3\u4fe1\u53f7\uff0c\u51b3\u5b9a\u7cfb\u7edf\u8c03\u8282\u901f\u5ea6\u7684\u662fa\u3002
\n\u8bc1\u660e\uff1a\u5199\u51fa\u4f20\u9012\u51fd\u6570\u5982\u4e0b\uff1a
\n$$\n\\frac{Y}{U}=\\frac{b}{s+a}\n$$
\na\u51b3\u5b9a\u6781\u70b9\u7684\u4f4d\u7f6e\u3002\u6240\u4ee5\u5f88\u660e\u663e\u51b3\u5b9a\u7cfb\u7edf\u7a33\u5b9a\u4ee5\u53ca\u6536\u655b\u901f\u5ea6\u7684\u662fa\u3002
\n\u5bf9\u72b6\u6001\u7a7a\u95f4\u8868\u8fbe\u5f0fx\u5bfc=Ax+bu\u4e5f\u662f\u5982\u6b64\u3002A\u51b3\u5b9a\u7cfb\u7edf\u7a33\u5b9a\u6027\u4ee5\u53ca\u5404\u79cd\u6027\u80fd\u3002
\n
\n\u7279\u5f81\u503c\u51b3\u5b9a\u4e86\u72b6\u6001\u7a7a\u95f4\u4e2d\uff0c\u6bcf\u4e00\u4e2a\u72b6\u6001\u6f14\u53d8\u7684\u5feb\u4e0e\u6162\u3002\u7279\u5f81\u503c\u4e5f\u5c31\u662f\u4f20\u9012\u51fd\u6570\u7684\u6781\u70b9\u3002\u8fd9\u662f\u4e00\u4e2a\u666e\u904d\u4e14\u91cd\u8981\u7684\u7406\u8bba\u3002
\n
\n\u5982\u4f55\u8c03\u6574\u7279\u5f81\u503c\uff1f
\nA\u77e9\u9635\u5199\u51fa\u884c\u5217\u5f0f$A-\\lambda$\u3002 \u4ee4\u884c\u5217\u5f0f\u7b49\u4e8e0\u5f97\u5230\u7279\u5f81\u65b9\u7a0b\u3002 \u4ee4\u7279\u5f81\u65b9\u7a0b\u7b49\u4e8e
\n$$\n\\left( \\lambda +\\omega _0 \\right) ^3=0\n$$
\n\u5bf9\u5e94\u76f8\u7b49\u5373\u53ef\u6c42\u51fa\u03b2123\u3002<\/p>\n

ADRC\u4e2d\u7684fst\u51fd\u6570\n<\/h2>

fst\u51fd\u6570\u662fADRC\u8ddf\u8e2a\u5fae\u5206\u5668\u4e2d\u7684\u975e\u7ebf\u6027\u63a7\u5236\u5668\uff0c\u8d1f\u8d23\u8ba1\u7b97\u52a0\u901f\u5ea6\u63a7\u5236\u4fe1\u53f7\u3002<\/strong>
\nfst\u51fd\u6570\u662f\u975e\u7ebf\u6027\u6700\u901f\u63a7\u5236\u5f8b\uff08Fastest Control\uff09\uff0c\u5b83\u662fADRC\u4e2d\u8ddf\u8e2a\u5fae\u5206\u5668\uff08Tracking Differentiator, TD\uff09\u91cc\u7528\u4e8e\u8ba1\u7b97\u63a7\u5236\u8f93\u5165\uff08\u7c7b\u4f3c\u201c\u52a0\u901f\u5ea6\u201d\u6216\u201c\u63a7\u5236\u529b\u201d\uff09\u7684\u6838\u5fc3\u51fd\u6570\u3002
\n\u5177\u4f53\u6765\u8bf4\uff0cfst\u51fd\u6570\u6839\u636e\u5f53\u524d\u7684\u8ddf\u8e2a\u8bef\u5dee\u548c\u901f\u5ea6\uff0c\u8f93\u51fa\u4e00\u4e2a\u52a0\u901f\u5ea6\u63a7\u5236\u4fe1\u53f7\uff0c\u4f7f\u5f97\u8ddf\u8e2a\u8bef\u5dee\u80fd\u591f\u4ee5\u6700\u5feb\u901f\u5ea6\u6536\u655b\uff0c\u540c\u65f6\u4fdd\u8bc1\u7cfb\u7edf\u7684\u5e73\u6ed1\u6027\u548c\u9c81\u68d2\u6027\u3002<\/strong>
\n\u4e00\u4e2a\u7ecf\u5178ADRC\u63a7\u5236\u4e2d\u7684FST\u51fd\u6570<\/strong><\/p>\n

\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span><\/code><\/pre><\/td>\n
\n
function<\/span> <\/span>out =<\/span> <\/span>fst<\/span>(<\/span>x1, x2, omega, h)<\/span>\n<\/span><\/span><\/span><\/span>%fst Summary of this function goes here<\/span>\n<\/span><\/span>%   \u6700\u901f\u63a7\u5236\u7efc\u5408\u51fd\u6570<\/span>\n<\/span><\/span>d<\/span> =<\/span> omega<\/span> *<\/span> h<\/span>;<\/span>\n<\/span><\/span>d0<\/span> =<\/span> x1<\/span> +<\/span> h<\/span> *<\/span> d<\/span>;<\/span>\n<\/span><\/span>y<\/span> =<\/span> x1<\/span> +<\/span> h<\/span> *<\/span> x2<\/span>;<\/span>\n<\/span><\/span>a0<\/span> =<\/span> sqrt<\/span>(<\/span>d<\/span> *<\/span> d<\/span> +<\/span> 8<\/span> *<\/span> omega<\/span> *<\/span> abs<\/span>(<\/span>y<\/span>));<\/span>\n<\/span><\/span>if<\/span> abs<\/span>(<\/span>y<\/span>)<\/span> ><\/span> d0<\/span>\n<\/span><\/span>    a<\/span> =<\/span> x2<\/span> +<\/span> (<\/span>a0<\/span> -<\/span> d<\/span>)<\/span> \/<\/span> 2<\/span> *<\/span> sign<\/span>(<\/span>y<\/span>);<\/span>\n<\/span><\/span>else<\/span>\n<\/span><\/span>    a<\/span> =<\/span> x2<\/span> +<\/span> y<\/span> \/<\/span> h<\/span>;<\/span>\n<\/span><\/span>end<\/span>\n<\/span><\/span>\n<\/span><\/span>if<\/span> abs<\/span>(<\/span>a<\/span>)<\/span> ><\/span> d<\/span>\n<\/span><\/span>    out<\/span> =<\/span> -<\/span> omega<\/span> *<\/span> sign<\/span>(<\/span>a<\/span>);<\/span>\n<\/span><\/span>else<\/span>\n<\/span><\/span>    out<\/span> =<\/span> -<\/span> omega<\/span> *<\/span> a<\/span> \/<\/span> d<\/span>;<\/span>\n<\/span><\/span>end<\/span>\n<\/span><\/span>\n<\/span><\/span>end<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
x1\uff1a\u8ddf\u8e2a\u8bef\u5dee\uff08\u8fd9\u91cc\u662f\u4f4d\u7f6e\u8bef\u5dee\uff0c\u5373v1 - v0\uff09
\nx2\uff1a\u5f53\u524d\u901f\u5ea6\uff08\u72b6\u6001\u53d8\u91cf\u901f\u5ea6\uff09
\nomega\uff1a\u8bbe\u8ba1\u53c2\u6570\uff0c\u63a7\u5236\u6536\u655b\u901f\u5ea6\u7684\u6743\u91cd\uff0c\u7c7b\u4f3c\u201c\u9891\u7387\u201d
\nh\uff1a\u91c7\u6837\u5468\u671f\u6216\u6ee4\u6ce2\u56e0\u5b50\uff0c\u5f71\u54cd\u63a7\u5236\u5e73\u6ed1\u7a0b\u5ea6
\n\u8f93\u51fa out \u662f\u52a0\u901f\u5ea6\u63a7\u5236\u91cf\uff0c\u7528\u4e8e\u9a71\u52a8\u8ddf\u8e2a\u8bef\u5dee\u5feb\u901f\u6536\u655b\u3002
\n\u5173\u952e\u6b65\u9aa4\u8bf4\u660e\uff1a<\/strong>
\n\u53c2\u6570\u8ba1\u7b97<\/strong>
\nd = omega * h\uff1a\u4e00\u4e2a\u9608\u503c\uff0c\u7528\u6765\u533a\u5206\u63a7\u5236\u7b56\u7565
\nd0 = x1 + h * d \u548c y = x1 + h * x2 \u662f\u8f85\u52a9\u8ba1\u7b97\u91cf\uff0c\u7528\u4e8e\u5224\u65ad\u5f53\u524d\u8bef\u5dee\u72b6\u6001<\/p>\n
\u5224\u65ad\u6761\u4ef6if abs(y) > d0<\/strong>\n\u8fd9\u662f\u975e\u7ebf\u6027\u5206\u6bb5\u6761\u4ef6\uff0c\u7528\u4e8e\u533a\u5206\u8bef\u5dee\u8f83\u5927\u548c\u8f83\u5c0f\u65f6\u91c7\u7528\u4e0d\u540c\u7684\u63a7\u5236\u7b56\u7565\u3002
\n\u5f53\u8bef\u5dee\u8f83\u5927\u65f6\uff08abs(y) > d0\uff09\uff0c\u91c7\u7528\u4e00\u79cd\u975e\u7ebf\u6027\u63a7\u5236\u7b56\u7565\u52a0\u5feb\u6536\u655b\u3002
\n\u5f53\u8bef\u5dee\u8f83\u5c0f\u65f6\uff0c\u91c7\u7528\u7ebf\u6027\u63a7\u5236\u7b56\u7565\u5e73\u6ed1\u6536\u655b\u3002<\/p>\n
\u8ba1\u7b97\u63a7\u5236\u91cfa<\/strong>
\n\u8ba1\u7b97\u4e00\u4e2a\u52a0\u901f\u5ea6\u63a7\u5236\u91cfa\uff0c\u6839\u636e\u8bef\u5dee\u548c\u901f\u5ea6\u8c03\u6574\u3002
\na\u8d8a\u5927\uff0c\u63a7\u5236\u4f5c\u7528\u8d8a\u5f3a\uff0c\u63a8\u52a8\u8bef\u5dee\u5feb\u901f\u51cf\u5c0f\u3002<\/p>\n
\u8f93\u51fa\u63a7\u5236\u4fe1\u53f7out<\/strong>
\n\u6839\u636ea\u5927\u5c0f\u505a\u9971\u548c\u5904\u7406\uff0c\u4fdd\u8bc1\u8f93\u51fa\u5728[-omega, omega]\u8303\u56f4\u5185\uff0c\u9632\u6b62\u63a7\u5236\u4fe1\u53f7\u8fc7\u5927\u5bfc\u81f4\u632f\u8361\u3002
\n\u8f93\u51faout\u5c31\u662fTD\u63a7\u5236\u5668\u5bf9\u901f\u5ea6\u7684\u201c\u52a0\u901f\u5ea6\u63a7\u5236\u201d\uff0c\u7528\u6765\u9a71\u52a8\u72b6\u6001\u53d8\u91cf\u5feb\u901f\u6536\u655b\u3002<\/p>\n
ADRC\u4e2d\u7684fal\u51fd\u6570\n<\/h2>
fal\u51fd\u6570\u662fADRC\u63a7\u5236\u5668\u4e2d\u5e38\u7528\u7684\u975e\u7ebf\u6027\u51fd\u6570\uff08nonlinear function\uff09\uff0c\u5b83\u7684\u5168\u79f0\u662f\u201cfractional power function\u201d\u6216\u201c\u975e\u7ebf\u6027\u8bef\u5dee\u53d8\u6362\u51fd\u6570\u201d\u3002
\n\u5b83\u7684\u4e3b\u8981\u4f5c\u7528\u662f\u5bf9\u8bef\u5deee\u505a\u4e00\u79cd\u5e73\u6ed1\u4e14\u5e26\u201c\u975e\u7ebf\u6027\u5e42\u6b21\u201d\u7684\u53d8\u6362\uff0c\u7528\u4e8e\u975e\u7ebf\u6027\u53cd\u9988\u63a7\u5236\u4e2d\uff0c\u53ef\u4ee5\u589e\u5f3a\u63a7\u5236\u5668\u5bf9\u8bef\u5dee\u7684\u54cd\u5e94\u901f\u5ea6\u548c\u7a33\u5b9a\u6027\u3002<\/strong><\/p>\n
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span><\/code><\/pre><\/td>\n
\n
function<\/span> <\/span>out =<\/span> <\/span>fal<\/span>(<\/span> e, a, delta )<\/span>\n<\/span><\/span><\/span><\/span>%fal Summary of this function goes here<\/span>\n<\/span><\/span>%   Detailed explanation goes here<\/span>\n<\/span><\/span>if<\/span> abs<\/span>(<\/span>e<\/span>)<\/span> ><\/span> delta<\/span>\n<\/span><\/span>    out<\/span> =<\/span> abs<\/span>(<\/span>e<\/span>)<\/span> ^ a<\/span> *<\/span> sign<\/span>(<\/span>e<\/span>);<\/span>\n<\/span><\/span>else<\/span>\n<\/span><\/span>    out<\/span> =<\/span> e<\/span> \/<\/span> (<\/span>delta<\/span> ^ (<\/span>1<\/span> -<\/span> a<\/span>));<\/span>\n<\/span><\/span>end<\/span>\n<\/span><\/span>\n<\/span><\/span>end<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
e\uff1a\u8f93\u5165\u8bef\u5dee\u503c\uff0c\u53ef\u4ee5\u662f\u4f4d\u7f6e\u8bef\u5dee\u3001\u901f\u5ea6\u8bef\u5dee\u7b49\u3002
\na\uff1a\u5e42\u6b21\u53c2\u6570\uff0c\u901a\u5e380 < a < 1\uff0c\u63a7\u5236\u975e\u7ebf\u6027\u7a0b\u5ea6\u3002
\ndelta\uff1a\u4e34\u754c\u9608\u503c\uff0c\u7528\u4e8e\u5b9a\u4e49\u5206\u6bb5\u975e\u7ebf\u6027\u51fd\u6570\u7684\u8303\u56f4\u3002
\n\u5206\u6bb5\u8bf4\u660e\uff1a<\/strong>\n\u5f53\u8bef\u5dee\u8f83\u5927\u65f6\uff1a|e| > delta
\n\u4f7f\u7528\u975e\u7ebf\u6027\u5e42\u6b21\u51fd\u6570 |e|^a * sign(e)\u3002
\n\u8fd9\u4f1a\u4f7f\u8bef\u5dee\u54cd\u5e94\u4e0d\u662f\u7ebf\u6027\u589e\u957f\uff0c\u800c\u662f\u4e00\u4e2a\u5c0f\u4e8e1\u6b21\u5e42\u7684\u66f2\u7ebf\uff0c
\n\u5f53a<1\u65f6\uff0c\u8bef\u5dee\u8f83\u5927\u65f6\u8f93\u51fa\u589e\u957f\u8f83\u6162\uff0c\u9632\u6b62\u63a7\u5236\u91cf\u8fc7\u5927\u3002
\n\u5f53\u8bef\u5dee\u8f83\u5c0f\u65f6\uff1a|e| <= delta
\n\u4f7f\u7528\u7ebf\u6027\u51fd\u6570 e \/ (delta^(1 - a))\uff0c\u4fdd\u8bc1\u51fd\u6570\u5728e=0\u9644\u8fd1\u5149\u6ed1\u8fde\u7eed\uff0c
\n\u9632\u6b62\u975e\u7ebf\u6027\u51fd\u6570\u5728\u5c0f\u8bef\u5dee\u65f6\u8fc7\u4e8e\u201c\u6b7b\u677f\u201d\uff0c\u4fdd\u8bc1\u63a7\u5236\u5668\u7075\u654f\u54cd\u5e94\u3002
\n\u4e3a\u4ec0\u4e48\u8981\u8fd9\u6837\u8bbe\u8ba1\uff1f<\/strong>\n\u5e73\u6ed1\u6027\uff1a\u51fd\u6570\u5728e = \u00b1delta\u5904\u8fde\u7eed\u4e14\u53ef\u5bfc\uff0c\u907f\u514d\u4e86\u63a7\u5236\u5668\u8f93\u51fa\u8df3\u53d8\u3002
\n\u975e\u7ebf\u6027\u63a7\u5236\u6548\u679c\uff1a\u975e\u7ebf\u6027\u5e42\u6b21a\u8ba9\u63a7\u5236\u5668\u5728\u5927\u8bef\u5dee\u65f6\u51cf\u5f31\u8f93\u51fa\uff0c\u907f\u514d\u8fc7\u51b2\uff1b\u5728\u5c0f\u8bef\u5dee\u65f6\u7ebf\u6027\u63d0\u9ad8\u7075\u654f\u5ea6\uff0c\u4fdd\u8bc1\u5feb\u901f\u6536\u655b\u3002
\n\u9c81\u68d2\u6027\u63d0\u5347\uff1a\u8fd9\u79cd\u8bbe\u8ba1\u63d0\u9ad8\u4e86\u63a7\u5236\u5668\u5728\u9762\u5bf9\u975e\u7ebf\u6027\u548c\u6270\u52a8\u65f6\u7684\u6027\u80fd\u3002<\/p>\n
ADRC\u4e2d\u7684ESO\n<\/h2>
\u72b6\u6001\u7a7a\u95f4\u65b9\u7a0b\u63a8\u5bfc\u800c\u6765\u7684ESO\uff0c\u8fd9\u4e2a\u6ca1\u4ec0\u4e48\u597d\u8bf4\u7684\uff1f
\nESO \u662fADRC\u7684\u6838\u5fc3\u6a21\u5757\u4e4b\u4e00\uff0c\u4e3b\u8981\u7528\u6765\uff1a
\n\u5728\u7ebf\u4f30\u8ba1\u7cfb\u7edf\u7684\u72b6\u6001\u53d8\u91cf\u548c\u603b\u6270\u52a8\uff08\u5305\u542b\u5185\u90e8\u672a\u77e5\u52a8\u6001\u548c\u5916\u90e8\u6270\u52a8\uff09\u3002
\n\u5b9e\u65f6\u8865\u507f\u7cfb\u7edf\u6270\u52a8\uff0c\u63d0\u9ad8\u63a7\u5236\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u548c\u6297\u6270\u52a8\u80fd\u529b\u3002
\nESO\u7684\u8bbe\u8ba1\u76ee\u6807\u662f\u8ba9\u89c2\u6d4b\u8bef\u5dee\u5feb\u901f\u6536\u655b\uff0c\u4ece\u800c\u51c6\u786e\u4f30\u8ba1\u7cfb\u7edf\u7684\u72b6\u6001\u548c\u6270\u52a8\u3002
\n\u56db\u65cb\u7ffc\u4e2d\u7684ESO\uff0c\u4e8c\u9636\u3002<\/p>\n
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span><\/code><\/pre><\/td>\n
\n
function<\/span> <\/span>[dz1,dz2,dz3] =<\/span> <\/span>fcn<\/span>(<\/span>u,e,z2, z3)<\/span>\n<\/span><\/span><\/span><\/span>%#\u8fde\u7eed\u5f62\u5f0f\u7684\u6269\u5f20\u72b6\u6001\u89c2\u6d4b\u5668(ESO)<\/span>\n<\/span><\/span>\n<\/span><\/span>%% \u53c2\u6570\u8d4b\u503c<\/span>\n<\/span><\/span>beta01_y<\/span> =<\/span> 30<\/span>;<\/span>     % \u53ef\u8c03\u53c2\u6570<\/span>\n<\/span><\/span>beta02_y<\/span> =<\/span> 300<\/span>;<\/span>     % \u53ef\u8c03\u53c2\u6570<\/span>\n<\/span><\/span>beta03_y<\/span> =<\/span> 1000<\/span>;<\/span>   % \u53ef\u8c03\u53c2\u6570<\/span>\n<\/span><\/span>a1<\/span> =<\/span> 0.75<\/span>;<\/span>         % \u53ef\u8c03\u53c2\u6570<\/span>\n<\/span><\/span>a2<\/span> =<\/span> 0.5<\/span>;<\/span>          % \u53ef\u8c03\u53c2\u6570<\/span>\n<\/span><\/span>a3<\/span> =<\/span> 0.25<\/span>;<\/span>         % \u53ef\u8c03\u53c2\u6570<\/span>\n<\/span><\/span>delta<\/span> =<\/span> 0.006<\/span>;<\/span>     % \u7ebf\u6027\u6bb5\u7684\u533a\u95f4\u957f\u5ea6<\/span>\n<\/span><\/span>b0_y<\/span> =<\/span> 0.06<\/span>;<\/span>       % \u51b3\u5b9a\u8865\u507f\u5f3a\u5f31\u7684\u201c\u8865\u507f\u56e0\u5b50\u201d<\/span>\n<\/span><\/span>\n<\/span><\/span>dz1<\/span> =<\/span> z2<\/span> -<\/span> beta01_y<\/span> *<\/span> fal<\/span>(<\/span>e<\/span>,<\/span> a1<\/span>,<\/span> delta<\/span>);<\/span>\n<\/span><\/span>dz2<\/span> =<\/span> z3<\/span> -<\/span> beta02_y<\/span> *<\/span> fal<\/span>(<\/span>e<\/span>,<\/span> a2<\/span>,<\/span> delta<\/span>)<\/span> +<\/span> b0_y<\/span> *<\/span> u<\/span>;<\/span>\n<\/span><\/span>dz3<\/span> =<\/span> -<\/span> beta03_y<\/span> *<\/span> fal<\/span>(<\/span>e<\/span>,<\/span> a3<\/span>,<\/span> delta<\/span>);<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u8f93\u5165
\nu\uff1a\u63a7\u5236\u8f93\u5165\u4fe1\u53f7\uff08\u63a7\u5236\u5668\u8f93\u51fa\u7684\u63a7\u5236\u91cf\uff09
\ne\uff1a\u89c2\u6d4b\u8bef\u5dee\uff0c\u901a\u5e38\u662f\u6d4b\u91cf\u8f93\u51fa\u4e0e\u4f30\u8ba1\u8f93\u51fa\u7684\u8bef\u5dee\uff0ce = z1 - y\uff08\u8fd9\u91ccy\u662f\u7cfb\u7edf\u8f93\u51fa\uff0cz1\u662f\u4f30\u8ba1\u7684\u72b6\u6001\uff09
\nz2, z3\uff1aESO\u5185\u90e8\u72b6\u6001\u53d8\u91cf\uff0c\u5bf9\u5e94\u7cfb\u7edf\u901f\u5ea6\u72b6\u6001\u548c\u6270\u52a8\u4f30\u8ba1
\n\u8f93\u51fa
\ndz1, dz2, dz3\uff1a\u72b6\u6001\u53d8\u91cf\u7684\u5bfc\u6570\uff0c\u4f9b\u79ef\u5206\u5668\u8ba1\u7b97\u4e0b\u4e00\u65f6\u523b\u72b6\u6001\u4f30\u8ba1\u503c
\n<\/p>\n
ADRC\u4e2d\u53c2\u6570\u8c03\u8282\n<\/h2>
ADRC\u7684\u9ad8\u5fd7\u5f3a\u8001\u5e08\u7684ACC2006\u8bba\u6587\u4e2d\u7684ADRC\u6a21\u578b\u5982\u4e0b
\n<\/p>\n"},{"title":"CM_FOC\u9a71\u52a8\u5668V2.0","link":"https:\/\/a233a2.github.io\/p\/cm_foc%E9%A9%B1%E5%8A%A8%E5%99%A8v2.0\/","pubDate":"Wed, 19 Mar 2025 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/cm_foc%E9%A9%B1%E5%8A%A8%E5%99%A8v2.0\/","description":"\"Featured
\u9879\u76ee\u6982\u8ff0\n<\/h2>
\u4e3b\u63a7\u82af\u7247\uff1aWCH-CH32V307VCT6
\n\u9884\u9a71\u82af\u7247\uff1aDRV8301
\nMOS\uff1aNEC6050
\n\u4e0b\u8f7d\u82af\u7247\uff1aCH549G
\n\u7535\u6d41\u68c0\u6d4b\uff1aDRV8301\u5185\u7f6e<\/p>\n
\u9879\u76ee\u56fe\u7247\n<\/h2>
  
\n  
\nMCU\u6838\u5fc3\u8bbe\u8ba1\u539f\u7406\u56fe<\/strong>
\n  
\nMCU\u6838\u5fc3\u5176\u4ed6\u8bbe\u8ba1\u539f\u7406\u56fe<\/strong> 
\n
\n\u9a71\u52a8\u6838\u5fc3\u8bbe\u8ba1\u539f\u7406\u56fe<\/strong>
\n
\n\u9a71\u52a8\u6838\u5fc3\u5176\u4ed6\u8bbe\u8ba1\u539f\u7406\u56fe<\/strong> 
\n<\/p>\n
\u4e00\u4e9b\u53d9\u8ff0\n<\/h2>
\u8fd9\u4e00\u7248\u8bbe\u8ba1\u4ecd\u7136\u7b97\u4e0d\u4e0a\u987a\u5229\uff0c\u4f5c\u4e3a\u4e00\u4e2a\u521d\u5b66\u8005\uff0c\u8e29\u4e86\u5f88\u591a\u7684\u5751\u3002
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\n
\n<\/p>\n
AS5600\u8bbe\u8ba1\n<\/h2>
\u8fd9\u4e00\u7248\u4f7f\u7528\u4e86\u4e0a\u4e00\u7248V1.0\u8bbe\u8ba1\u7684AS5600\u7f16\u7801\u5668\u7535\u673a\u5e95\u5ea7\uff0c\u9a8c\u8bc1\u5b8c\u5168\u6ca1\u6709\u95ee\u9898\u3002\u5728\u6b64\u5f00\u6e90\u4e00\u4e2a\u81ea\u5df1\u5199\u7684CH32V307\u7cfb\u5217\u82af\u7247\u7684AS5600\u9a71\u52a8\u3002\u4ee3\u7801\u592a\u957f\uff0c\u6211\u63d0\u524d\u653e\u5230\u4e86CSDN\u4e0a\uff0c->[(https:\/\/blog.csdn.net\/apple_50191511\/article\/details\/146131385)]<-(https:\/\/blog.csdn.net\/apple_50191511\/article\/details\/146131385<\/a>)\u7f51\u5740\u5728\u8fd9\u91cc\uff0c\u5e0c\u671b\u80fd\u5e2e\u5230\u522b\u4eba^ ^\u3002<\/p>\n
FOC\u7a0b\u5e8f\u8bbe\u8ba1\n<\/h2>
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\u8d85\u7b80\u5355\u81ea\u7528\u6a21\u677f\n<\/h2>
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span>28\n<\/span>29\n<\/span>30\n<\/span>31\n<\/span>32\n<\/span>33\n<\/span>34\n<\/span>35\n<\/span><\/code><\/pre><\/td>\n
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\\documentclass<\/span>[11pt]<\/span>{<\/span>report}<\/span> %\u8bbe\u7f6e\u6b63\u6587\u7684\u5b57\u4f53\u5927\u5c0f \u4ee5\u53ca\u6587\u7ae0\u7c7b\u578b \u5e38\u7528report article IEEEtran\u7b49\n<\/span><\/span><\/span>%ASMATH\u516c\u5f0f  graphicx\u652f\u6301\u56fe\u7247IEEEtran\n<\/span><\/span><\/span><\/span>\\usepackage<\/span>{<\/span>amsmath, amsthm, amssymb, graphicx}<\/span>\n<\/span><\/span>\\usepackage<\/span>[bookmarks=true, colorlinks, citecolor=blue, linkcolor=black]<\/span>{<\/span>hyperref}<\/span>\n<\/span><\/span>\n<\/span><\/span>\\usepackage<\/span>{<\/span>cite}<\/span>% \\cite{bibtex1\uff0cbibtex2\uff0cbibtex3} \u996e\u7528\u540e\u53ef\u4ee5\u53d8\u4e3a--> [1]-[3]\n<\/span><\/span><\/span><\/span>\n<\/span><\/span>\\usepackage<\/span>{<\/span>multicol}<\/span> % \u7528\u4e8e\u5b9e\u73b0\u5728\u540c\u4e00\u9875\u4e2d\u5b9e\u73b0\u4e0d\u540c\u7684\u5206\u680f,\u5bfc\u5305\n<\/span><\/span><\/span><\/span>\\setlength\\columnsep<\/span>{<\/span>0.6cm}<\/span>  % \u8bbe\u7f6e\u4e24\u680f\u4e4b\u95f4\u7684\u95f4\u8ddd\u4e3a0.6cm\n<\/span><\/span><\/span><\/span>\\columnseprule<\/span>=0.0pt           % \u5b9e\u73b0\u63d2\u5165\u5206\u9694\u7ebf\uff0c\u7528\u4e8e\u5206\u680f\n<\/span><\/span><\/span><\/span>\\begin<\/span>{<\/span>multicols}{<\/span>2}<\/span>         % \u5206\u4e24\u680f \u82e5\u82b1\u62ec\u53f7\u4e2d\u4e3a3\u5219\u662f\u5206\u4e09\u680f\n<\/span><\/span><\/span><\/span>\\end<\/span>{<\/span>multicols}<\/span>\n<\/span><\/span>\n<\/span><\/span>\\usepackage<\/span>{<\/span>geometry}<\/span>% \u9875\u9762\u5e03\u5c40\u8bbe\u7f6e\n<\/span><\/span><\/span><\/span>\\geometry<\/span>{<\/span>left=1.00in,right=1.00in,top=0.75in,bottom=0.75in}<\/span>  %\u9875\u9762\u5e03\u5c40\u8bbe\u7f6e\n<\/span><\/span><\/span><\/span>\n<\/span><\/span>% \u5bfc\u8a00\u533a \n<\/span><\/span><\/span><\/span>\\begin<\/span>{<\/span>document}<\/span>\n<\/span><\/span>%\u680f\u5916\u6807\u9898\uff01\uff01\uff01\n<\/span><\/span><\/span><\/span>\\markboth<\/span>{<\/span>Random process assignment,~Vol .~1, No.~1,~12~2024}{<\/span>Shell \\MakeLowercase<\/span>{<\/span>\\textit<\/span>{<\/span>et al.}}<\/span>: Paper Title}<\/span>\n<\/span><\/span>% \u9898\u76ee \u65e0\u4eba\u673a\u8fd0\u52a8\u63a7\u5236\u4e2d\u968f\u673a\u63a7\u5236\u4e0e\u4f18\u5316\u7684\u53d1\u5c55\u73b0\u72b6\u7efc\u8ff0\n<\/span><\/span><\/span><\/span>\\title<\/span>{<\/span>\\textbf<\/span>{<\/span>A review of the research status of Stochastic and interference in UAV motion control}}<\/span>%\u4f5c\u8005 \u6807\u9898\u52a0\u7c97\n<\/span><\/span><\/span><\/span>\n<\/span><\/span>\\author<\/span>{}<\/span>%\u4f5c\u8005\n<\/span><\/span><\/span><\/span>\\date<\/span>{<\/span>2024.12.11}<\/span>%\u65f6\u95f4\n<\/span><\/span><\/span><\/span>\\maketitle<\/span>\n<\/span><\/span>%\u6458\u8981\u90e8\u5206\n<\/span><\/span><\/span><\/span>\\begin<\/span>{<\/span>abstract}<\/span>\n<\/span><\/span>\\end<\/span>{<\/span>abstract}<\/span> \n<\/span><\/span>\\section<\/span>{<\/span>INTRODUCTION}<\/span>\n<\/span><\/span>%\u6b63\u6587\u90e8\u5206\n<\/span><\/span><\/span><\/span>\\begin<\/span>{<\/span>thebibliography}{<\/span>00}<\/span>%\u5f15\u7528\n<\/span><\/span><\/span><\/span>\\end<\/span>{<\/span>thebibliography}<\/span>\n<\/span><\/span>\n<\/span><\/span>\\end<\/span>{<\/span>document}<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u5176\u4ed6\u529f\u80fd\n<\/h2>
\u63d2\u5165\u56fe\u7247\n<\/h3>
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1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span>5\n<\/span>6\n<\/span>7\n<\/span><\/code><\/pre><\/td>\n
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\\usepackage<\/span>{<\/span>graphicx}<\/span> %\u5fc5\u987b\u8981\u5bfc\u5165\u8fd9\u4e2a \u5c3d\u91cf\u4f7f\u7528EPS\u683c\u5f0f\u7684\u77e2\u91cf\u56fe\u7247 \u4fdd\u8bc1\u6e05\u6670\n<\/span><\/span><\/span><\/span>\\begin<\/span>{<\/span>figure}<\/span>[htbp]\n<\/span><\/span>    \\centering<\/span>\n<\/span><\/span>    \\includegraphics<\/span>[width=8cm]<\/span>{<\/span>images\/1.1.png}<\/span>\n<\/span><\/span>    \\caption<\/span>{<\/span>UAV}<\/span>\n<\/span><\/span>    \\label<\/span> {<\/span>1}<\/span>\n<\/span><\/span>\\end<\/span>{<\/span>figure}<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u5199\u8bba\u6587\u7684\u8bdd \u8fd8\u662f\u4f7f\u7528Overleaf\u6bd4\u8f83\u597d\n<\/h3>
   
\n<\/p>\n"},{"title":"YOLO\u8bd5\u73a9+\u5b9e\u4f8b\u8bb0\u5f55","link":"https:\/\/a233a2.github.io\/p\/yolo%E8%AF%95%E7%8E%A9-%E5%AE%9E%E4%BE%8B%E8%AE%B0%E5%BD%95\/","pubDate":"Sat, 30 Nov 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/yolo%E8%AF%95%E7%8E%A9-%E5%AE%9E%E4%BE%8B%E8%AE%B0%E5%BD%95\/","description":"
YOLO\uff08You Only Look Once\uff09\u662f\u4e00\u79cd\u6d41\u884c\u7684\u5b9e\u65f6\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\uff0c\u5b83\u5c06\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u4f5c\u4e3a\u4e00\u4e2a\u56de\u5f52\u95ee\u9898\u6765\u5904\u7406\uff0c\u76f4\u63a5\u9884\u6d4b\u56fe\u50cf\u4e2d\u6240\u6709\u76ee\u6807\u7684\u4f4d\u7f6e\u548c\u7c7b\u522b\u3002\u4e0e\u4f20\u7edf\u7684\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\uff08\u4f8b\u5982 R-CNN \u7cfb\u5217\uff09\u4e0d\u540c\uff0cYOLO \u901a\u8fc7\u4e00\u4e2a\u5355\u4e00\u7684\u795e\u7ecf\u7f51\u7edc\u5728\u4e00\u6b21\u524d\u5411\u4f20\u64ad\u4e2d\u540c\u65f6\u8fdb\u884c\u76ee\u6807\u8bc6\u522b\u548c\u5b9a\u4f4d\uff0c\u56e0\u6b64\u975e\u5e38\u9ad8\u6548\uff0c\u80fd\u591f\u5728\u5b9e\u65f6\u5e94\u7528\u4e2d\u4f7f\u7528\u3002<\/p>\n
YOLO \u8fd0\u884c\u73af\u5883\u914d\u7f6e\n<\/h3>
\u53c2\u8003\u6559\u7a0b\uff1a\nYOLO\u73af\u5883\u914d\u7f6e<\/a>
\nAnaconda\u7684\u5b89\u88c5\u4e0e\u73af\u5883\u8bbe\u7f6e<\/a>  
\nCUDA\u3001Pytorch\u3001Pycharm\u7684\u5b89\u88c5\u4e0e\u914d\u7f6e<\/a><\/p>\n
\u6211\u7684\u64cd\u4f5c\u73af\u5883\n<\/h4>
\u73af\u5883\uff1aWin11\u4e13\u4e1a\u724824H2\u7248\u672c  
\nCPU GPU\uff1ai7 14650HX + RTX4060 Laptop 
\nDriver Version: 566.14 CUDA Version:12.7<\/p>\n
Conda\u521b\u5efa\u865a\u62df\u73af\u5883\n<\/h4>
\u91c7\u7528Anaconda\u7ba1\u7406\uff0c\u4f7f\u7528Conda\u521b\u5efa\u865a\u62df\u73af\u5883\u3002\u7c7b\u4f3cDocker\uff0c\u611f\u89c9\u76f8\u6bd4Docker\u66f4\u5bb9\u6613\u4e0a\u624b\u3002    
\n\u9996\u5148\u4e0b\u8f7d\u4e86Anaconda 2024-6-1\u7248\u672c\uff0c\u5185\u7f6eConda\u7248\u672c\u4e3a25.   
\nConda\u521b\u5efa\u4e86\u865a\u62df\u73af\u5883\u3002\u540d\u4e3ayolo_env\n\u9996\u5148\u521b\u5efa\u5e76\u6fc0\u6d3b\u865a\u62df\u73af\u5883\u3002\u5728Anaconda Navagator\u4e2d\u64cd\u4f5c\u5373\u53ef\u3002<\/strong><\/p>\n
\u865a\u62df\u73af\u5883\u4e2dPytorch\u7684\u5b89\u88c5\n<\/h4>
Pytorch\u7684\u5b89\u88c5\uff1ahttps:\/\/pytorch.org\/get-started\/locally\/  
\n   
\n\u9009\u62e9\u5982\u4e0a\u7684\u7248\u672c\u53f7\u3002\u5728Pycharm\u7ec8\u7aef\u4e2d\u8f93\u5165\u5373\u53ef\u5728\u5bf9\u4e8e\u73af\u5883\u4e2d\u5b89\u88c5\u3002<\/p>\n
CUDA\u5b89\u88c5-\u4e0d\u662f\u5b89\u88c5\u5728\u865a\u62df\u73af\u5883\n<\/h4>
\u9996\u5148\u5b89\u88c5CUDA toolkit       
\n 
\n 
\n\u8fd9\u91cc\u6211\u9009\u4e8612.4 \u4e0ePytorch\u5bf9\u5e94\u8d77\u6765\u3002<\/p>\n
\n
PS:cuda\u5b89\u88c5\n\u5b89\u88c5cuda\u65f6\uff0c\u7b2c\u4e00\u6b21\u4f1a\u8ba9\u8bbe\u7f6e\u4e34\u65f6\u89e3\u538b\u76ee\u5f55\uff0c\u7b2c\u4e8c\u6b21\u4f1a\u8ba9\u8bbe\u7f6e\u5b89\u88c5\u76ee\u5f55\uff1b\n\u4e34\u65f6\u89e3\u538b\u8def\u5f84\uff0c\u5efa\u8bae\u9ed8\u8ba4\u5373\u53ef\uff0c\u4e5f\u53ef\u4ee5\u81ea\u5b9a\u4e49\u3002\u5b89\u88c5\u7ed3\u675f\u540e\uff0c\u4e34\u65f6\u89e3\u538b\u6587\u4ef6\u5939\u4f1a\u81ea\u52a8\u5220\u9664\uff1b\n\u5b89\u88c5\u76ee\u5f55\uff0c\u5efa\u8bae\u9ed8\u8ba4\u5373\u53ef\uff1b\n\u6ce8\u610f\uff1a\u4e34\u65f6\u89e3\u538b\u76ee\u5f55\u5343\u4e07\u4e0d\u8981\u548ccuda\u7684\u5b89\u88c5\u8def\u5f84\u8bbe\u7f6e\u6210\u4e00\u6837\u7684\uff0c\u5426\u5219\u5b89\u88c5\u7ed3\u675f\uff0c\u4f1a\u627e\u4e0d\u5230\u5b89\u88c5\u76ee\u5f55\u7684\uff01\uff01\uff01\n\u9009\u62e9\u81ea\u5b9a\u4e49\u5b89\u88c5\n\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u914d\u7f6ecuda\u7684\u73af\u5883\u53d8\u91cf\uff1b\n\u547d\u4ee4\u884c\u4e2d\uff0c\u6d4b\u8bd5\u662f\u5426\u5b89\u88c5\u6210\u529f\uff1b\n\u53cc\u51fb\u201cexe\u6587\u4ef6\u201d\uff0c\u9009\u62e9\u4e0b\u8f7d\u8def\u5f84\uff08\u63a8\u8350\u9ed8\u8ba4\u8def\u5f84\uff09<\/p>\n<\/blockquote>\n
      
\n\u4e4b\u540e\u9009\u62e9\u81ea\u5b9a\u4e49\u5b89\u88c5\uff0c\u7cbe\u7b80\u7248\u672c\u662f\u4e0b\u8f7d\u597d\u6240\u6709\u7ec4\u4ef6\uff0c\u5e76\u4e14\u4f1a\u8986\u76d6\u539f\u6709\u9a71\u52a8\uff0c\u6240\u4ee5\u5728\u8fd9\u91cc\u63a8\u8350\u81ea\u5b9a\u4e49\u4e0b\u8f7d<\/p>\n
\u7f51\u4e0a\u90fd\u5efa\u8bae\u5c06Visual Studio Integration\u9009\u9879\u53d6\u6d88\uff08\u5728CUDA\u9009\u9879\u4e0b\uff09\uff0c\u5176\u6ca1\u4ec0\u4e48\u7528\u800c\u4e14\u4f1a\u5f71\u54cd\u4e0b\u8f7d    
\n\u786e\u5b9a\u5b89\u88c5\u8def\u5f84\uff08\u53ef\u4ee5\u4fee\u6539\uff0c\u6700\u597d\u8bb0\u4f4f\uff09<\/p>\n
\n
\u6ce8\u610f\u4e8b\u9879\uff1a\u53d6\u6d88\u52fe\u9009Visual Studio Integration\uff08\u8fd9\u91cc\u89e3\u91ca\u4e00\u4e0b\uff0c\u8fd9\u4e2a\u6a21\u5757\u662f\u5bf9VS\u7f16\u8bd1\u7684\u652f\u6301\uff0c\u6ca1\u6709\u5b89\u88c5VS\u65e0\u6cd5\u5f81\u5e38\u5de5\u4f5c\uff0c\u800c\u9700\u8981VS\u8f85\u52a9\u5219\u662f\u9700\u8981\u7f16\u8bd1cuda\u7a0b\u5e8f\uff0c\u8fd9\u79cd\u7f16\u8bd1\u4e0d\u5efa\u8bae\u5728Windows\u4e0b\u8fdb\u884c\uff0c\u4e00\u822cWindows\u4e0b\u80fd\u8dd1\u6df1\u5ea6\u5b66\u4e60\u539f\u751f\u6846\u67b6\u7684\u4ee3\u7801\u5c31\u884c\uff09\uff0c\u5176\u4f59\u5168\u90e8\u52fe\u9009\u3002<\/p>\n<\/blockquote>\n
\u5b89\u88c5\u5b8c\u6210\u540e\u67e5\u770b\u4e00\u4e0b\u662f\u5426\u6709\u73af\u5883\u53d8\u91cf\uff0c\u6ca1\u6709\u81ea\u5df1\u624b\u52a8\u6dfb\u52a0\uff089.0\u4e4b\u540e\u7684\u7248\u672c\u73af\u5883\u53d8\u91cf\u662f\u81ea\u52a8\u914d\u7f6e\u7684\uff0c\u65e0\u9700\u6dfb\u52a0\uff09 
\n   
\n\u4e00\u5171\u9700\u89814\u4e2a\u73af\u5883\u53d8\u91cf\uff0c\u7f51\u4e0a\u8bf4\u53ea\u81ea\u52a8\u751f\u6210\u4e86\u524d\u4e24\u4e2a\uff0c\u518d\u624b\u52a8\u6dfb\u52a0\u4e00\u4e0b\u4e0a\u56fe\u4e2d\u4e0b\u9762\u90a3\u4e24\u4e2a\u3002<\/p>\n
\u5378\u8f7dCUDA\n<\/h4>
\u53c2\u8003\uff1ahttps:\/\/www.jianshu.com\/p\/c184e270b8d4     
\n\u4fdd\u7559\u5982\u4e0b\u7684\u7ea2\u8272\u6846\u9009 \u5220\u9664\u5176\u4ed6\u7684 \u5220\u9664\u987a\u5e8f\u4efb\u610f<\/strong>      
\n   
\n\u628aNsight CUDA toolkit\u5220\u9664\u4e86 \u5148\u4e0d\u5220\u9664\u4e86 \u5176\u4ed6\u7684\u548c\u8fd9\u4e2a\u53e4\u8001\u6559\u7a0b\u5bf9\u5e94\u4e0d\u8d77\u6765<\/p>\n
\n
\u8fd8\u662f\u4f7f\u7528Docker\u914d\u7f6e\u7b80\u5355\u4e00\u4e9b\uff0c\u4f46\u662f\u4e0d\u77e5\u9053Docker\u80fd\u5426\u914d\u7f6eCUDA\uff1f\u6216\u8005Nvidia\u6709\u4e13\u95e8\u7684Docker\u4ed3\u5e93\u3002\uff1f<\/p>\n<\/blockquote>\n
\u518d\u6b21\u5b89\u88c5CUDA\u65f6\u53d1\u73b0CUDA\u5b89\u88c5\u5931\u8d25\u3002    
\n\u5728\u7f51\u4e0a\u67e5\u8d44\u6599\u53d1\u73b0\u662f\u9a71\u52a8\u9519\u8bef\u5bfc\u81f4\u7684\uff0c\u4e4b\u524d\u6211\u662fGameReady\u9a71\u52a8\uff0c\u73b0\u5728\u6362\u6210Studio\u7cfb\u5217\u3002\u5728\u8fd9\u4e2a\u9a71\u52a8\u7ba1\u7406\u8f6f\u4ef6\u4e0b\u80fd\u76f4\u63a5\u66f4\u6362\u3002  
\n<\/p>\n
CUDNN\u5b89\u88c5\n<\/h4>
cuDNN \u5176\u5b9e\u5c31\u662f CUDA \u7684\u4e00\u4e2a\u8865\u4e01\u800c\u5df2\uff0c\u4e13\u4e3a\u6df1\u5ea6\u5b66\u4e60\u8fd0\u7b97\u8fdb\u884c\u4f18\u5316\u7684\u3002\u7136\u540e\u518d\u53c2\u52a0\u73af\u5883\u53d8\u91cf 
\n\u4e0b\u8f7d\u540e\u53d1\u73b0\u5176\u5b9ecudnn\u4e0d\u662f\u4e00\u4e2aexe\u6587\u4ef6\uff0c\u800c\u662f\u4e00\u4e2a\u538b\u7f29\u5305\uff0c\u89e3\u538b\u540e\uff0c\u6709\u4e09\u4e2a\u6587\u4ef6\u5939\uff0c\u628a\u4e09\u4e2a\u6587\u4ef6\u5939\u62f7\u8d1d\u5230cuda\u7684\u5b89\u88c5\u76ee\u5f55\u4e0b\u3002  
\n\u62f7\u8d1d\u65f6\u770b\u5230\uff0cCUDA \u7684\u5b89\u88c5\u76ee\u5f55\u4e2d\uff0c\u6709\u548c cuDNN \u89e3\u538b\u7f29\u540e\u7684\u540c\u540d\u6587\u4ef6\u5939\uff0c\u8fd9\u91cc\u6ce8\u610f\uff0c\u4e0d\u9700\u8981\u62c5\u5fc3\uff0c\u76f4\u63a5\u590d\u5236\u5373\u53ef\u3002cuDNN \u89e3\u538b\u7f29\u540e\u7684\u540c\u540d\u6587\u4ef6\u5939\u4e2d\u7684\u914d\u7f6e\u6587\u4ef6\u4f1a\u6dfb\u52a0\u5230 CUDA\u5b89\u88c5\u76ee\u5f55\u4e2d\u7684\u540c\u540d\u6587\u4ef6\u5939\u4e2d\u3002\u3010\u6b64\u5904\u8fd8\u662f\u5efa\u8bae\u8fd8\u662f\u5206\u522b\u628a\u6587\u4ef6\u5939\u7684\u5185\u5bb9\u590d\u5236\u5230\u5bf9\u5e94\u6587\u4ef6\u5939\u4e2d\u53bb\u3011     
\n   
\n\u5728\u7cfb\u7edf\u53d8\u91cf-Paht\u4e2d\u6dfb\u52a0\u73af\u5883\u53d8\u91cf  
\n<\/p>\n
\u5982\u4f55\u6d4b\u8bd5\u73af\u5883\u662f\u5426\u5b89\u88c5\u6210\u529f\uff1f   
\n\u6253\u5f00cmd\uff0c\u8f93\u5165nvcc -V\u67e5\u770bcuda\u7248\u672c   
\n  
\n\u4f7f\u7528Torch\u9a8c\u8bc1CUDA\u662f\u5426\u53ef\u7528\uff1a<\/p>\n
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span><\/code><\/pre><\/td>\n
\n
# yolo detect train data=data\/data.yaml model=yolo11n.pt epochs=10 batch=4 imgsz=640 device=0<\/span>\n<\/span><\/span>import<\/span> torch<\/span>\n<\/span><\/span>\n<\/span><\/span># \u68c0\u67e5 CUDA \u662f\u5426\u53ef\u7528<\/span>\n<\/span><\/span>print<\/span>(<\/span>f<\/span>"CUDA available: <\/span>{<\/span>torch<\/span>.<\/span>cuda<\/span>.<\/span>is_available<\/span>()<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span># \u5982\u679c CUDA \u53ef\u7528\uff0c\u6253\u5370\u5f53\u524d\u8bbe\u5907\u540d\u79f0<\/span>\n<\/span><\/span>if<\/span> torch<\/span>.<\/span>cuda<\/span>.<\/span>is_available<\/span>():<\/span>\n<\/span><\/span>    print<\/span>(<\/span>f<\/span>"Current device: <\/span>{<\/span>torch<\/span>.<\/span>cuda<\/span>.<\/span>get_device_name<\/span>(<\/span>0<\/span>)<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span># \u83b7\u53d6 CUDA \u7248\u672c<\/span>\n<\/span><\/span>cuda_version<\/span> =<\/span> torch<\/span>.<\/span>version<\/span>.<\/span>cuda<\/span>\n<\/span><\/span>print<\/span>(<\/span>f<\/span>"CUDA Version: <\/span>{<\/span>cuda_version<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span># \u83b7\u53d6 cuDNN \u7248\u672c<\/span>\n<\/span><\/span>cudnn_version<\/span> =<\/span> torch<\/span>.<\/span>backends<\/span>.<\/span>cudnn<\/span>.<\/span>version<\/span>()<\/span>\n<\/span><\/span>print<\/span>(<\/span>f<\/span>"cuDNN Version: <\/span>{<\/span>cudnn_version<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u4e0d\u53ef\u7528\u7684\u8fd0\u884c\u7ed3\u679c<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span><\/code><\/pre><\/td>\n
\n
CUDA available: False\n<\/span><\/span>CUDA Version: None\n<\/span><\/span>cuDNN Version: None\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u53ef\u7528\u7684\u8fd0\u884c\u7ed3\u679c(\u793a\u4f8b)<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span><\/code><\/pre><\/td>\n
\n
CUDA available: True\n<\/span><\/span>Current device: NVIDIA GeForce RTX 4060 Laptop GPU\n<\/span><\/span>CUDA Version: 12.4\n<\/span><\/span>cuDNN Version: 90100\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
torch\u5b89\u88c5\n<\/h4>
pip install torch<\/strong>\u5373\u53ef  
\nTorch \u548c PyTorch \u662f\u4e24\u4e2a\u4e0d\u540c\u7684\u6df1\u5ea6\u5b66\u4e60\u6846\u67b6\u3002 
\n1\u3001Torch \u662f\u4e00\u4e2a\u7528 Lua \u7f16\u7a0b\u8bed\u8a00\u7f16\u5199\u7684\u6df1\u5ea6\u5b66\u4e60\u6846\u67b6\uff0c\u800c PyTorch \u662f\u4e00\u4e2a\u7528 Python \u7f16\u7a0b\u8bed\u8a00\u7f16\u5199\u7684\u6df1\u5ea6\u5b66\u4e60\u6846\u67b6\u3002 
\n2\u3001Torch \u662f\u7531 Facebook \u7684\u7814\u7a76\u56e2\u961f\u5f00\u53d1\u7684\uff0c\u800c PyTorch \u662f\u7531 Facebook AI Research\uff08FAIR\uff09\u56e2\u961f\u5f00\u53d1\u7684\u3002 
\n3\u3001PyTorch \u7684\u8bbe\u8ba1\u66f4\u52a0\u7075\u6d3b\u548c\u6613\u4e8e\u4f7f\u7528\uff0c\u63d0\u4f9b\u4e86\u66f4\u591a\u9ad8\u7ea7\u63a5\u53e3\u548c\u529f\u80fd\uff0c\u4f7f\u5f97\u7528\u6237\u53ef\u4ee5\u66f4\u65b9\u4fbf\u5730\u6784\u5efa\u3001\u8bad\u7ec3\u548c\u90e8\u7f72\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u3002 
\n4\u3001Torch \u5728\u4e00\u4e9b\u65b9\u9762\u6bd4 PyTorch \u66f4\u65e9\u6210\u4e3a\u6d41\u884c\u7684\u6df1\u5ea6\u5b66\u4e60\u6846\u67b6\uff0c\u4f46 PyTorch \u5728\u8fd1\u5e74\u6765\u9010\u6e10\u53d6\u4ee3\u4e86 Torch\uff0c\u6210\u4e3a\u4e86\u7814\u7a76\u548c\u5de5\u4e1a\u754c\u5e7f\u6cdb\u4f7f\u7528\u7684\u6df1\u5ea6\u5b66\u4e60\u6846\u67b6\u4e4b\u4e00\u3002<\/p>\n
Pycharm\u914d\u7f6e\u865a\u62df\u73af\u5883\n<\/h4>
\u4e0b\u4e00\u6b65\u51c6\u5907\u4f7f\u7528Pycharm\u8fdb\u884c\u5f00\u53d1\u3002\u611f\u89c9\u76f8\u6bd4Vscode\u597d\u914d\u7f6e\u5f88\u591a\u3002     
\n 
\n\u5728Pycharm\u4e2d\u65b0\u5efa\u9879\u76ee\uff0c\u9009\u62e9\u4e4b\u524d\u521b\u5efa\u7684\u865a\u62df\u73af\u5883\u3002  
\n\u540e\u5728\u8fd9\u4e2a\u865a\u62df\u73af\u5883\u4e2d\u5b89\u88c5Pytorch\u3002<\/p>\n
YOLO \u67b6\u6784\u4e0e\u539f\u7406\n<\/h3>
ultralytics\u53d1\u5e03\u4e86\u6700\u65b0\u7684\u4f5c\u54c1YOLOv11\uff0c\u8fd9\u4e00\u6b21YOLOv11\u7684\u53d8\u5316\u76f8\u5bf9\u4e8eultralytics\u516c\u53f8\u7684\u4e0a\u4e00\u4ee3\u4f5c\u54c1YOLOv8\u53d8\u5316\u4e0d\u662f\u5f88\u5927\u7684\uff08YOLOv9\u3001YOLOv10\u5747\u4e0d\u662fultralytics\u516c\u53f8\u4f5c\u54c1\uff09\uff0c\u5176\u4e2d\u6539\u53d8\u7684\u4f4d\u7f6e\u6d89\u53ca\u5230C2f\u53d8\u4e3aC3K2\uff0c\u5728SPPF\u540e\u9762\u52a0\u4e86\u4e00\u5c42\u7c7b\u4f3c\u4e8e\u6ce8\u610f\u529b\u673a\u5236\u7684C2PSA\uff0c\u8fd8\u6709\u4e00\u4e2a\u53d8\u5316\u5927\u5bb6\u4eceyaml\u6587\u4ef6\u662f\u770b\u4e0d\u51fa\u6765\u7684\u5c31\u662f\u5b83\u7684\u68c0\u6d4b\u5934\u5185\u90e8\u66ff\u6362\u4e86\u4e24\u4e2aDWConv\uff0c\u4ee5\u53ca\u6a21\u578b\u7684\u6df1\u5ea6\u548c\u5bbd\u5ea6\u53c2\u6570\u8fdb\u884c\u4e86\u5927\u5e45\u5ea6\u8c03\u6574\uff0c\u4f46\u662f\u5728\u635f\u5931\u51fd\u6570\u65b9\u9762\u5c31\u6ca1\u6709\u53d8\u5316\u8fd8\u662f\u91c7\u7528\u7684CIoU\u4f5c\u4e3a\u8fb9\u754c\u6846\u56de\u5f52\u635f\u5931\u3002<\/p>\n
YOLO v11 Demo\n<\/h3>
\u5b89\u88c5ultralytics\u3002\u8fd0\u884c\u65f6\u63d0\u793a\u7f3a\u5c11package\u7684\u9519\u8bef\u5c31\u662f\u6ca1\u5b89\u88c5\u8fd9\u4e2a\u3002
\n\u6309\u7167\u5b98\u65b9\u6559\u7a0b\u4f7f\u7528Conda\u5b89\u88c5\u5373\u53ef \u5982\u4e0b\u56fe 
\n<\/p>\n
\n
\n
1\n<\/span><\/code><\/pre><\/td>\n
\n
conda<\/span> install<\/span> conda<\/span>-<\/span>forge<\/span>::<\/span>ultralytics<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
YOLO Example\uff1a<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span><\/code><\/pre><\/td>\n
\n
from<\/span> ultralytics<\/span> import<\/span> YOLO<\/span>\n<\/span><\/span>model<\/span>=<\/span>YOLO<\/span>(<\/span>"yolo11n.pt"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>results<\/span>=<\/span>model<\/span>(<\/span>"H:\\Computer Vision\\yolov11\\pra\\pra1\\ice_skating.mp4"<\/span>,<\/span>save<\/span>=<\/span>True<\/span>,<\/span>show<\/span>=<\/span>True<\/span>)<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u53c2\u8003YOLO\u5b98\u65b9\u4ed3\u5e93\uff0c\u5b89\u88c5ultralytics\uff1ahttps:\/\/github.com\/ultralytics\/ultralytics   
\nPython\u4e2d\u5f15\u7528\u5730\u5740\u53ef\u80fd\u5b58\u5728\u8f6c\u4e49\u9519\u8bef\uff0c\u5728\u5730\u5740\u524d\u52a0r\u5373\u53ef\u3002\u5373\u4fdd\u6301\u5b57\u7b26\u539f\u59cb\u503c\u7684\u610f\u601d\u3002  
\n\u5982r"H:\\Computer Vision\\yolov11\\pra\\pra1\\ice_skating.mp4"<\/strong>       
\nPS \u4e5f\u53ef\u4ee5\u66ff\u6362\u4e3a\u53cc\u53cd\u659c\u6760\uff0c\u66ff\u6362\u4e3a\u6b63\u659c\u6760\u3002<\/p>\n
\u81ea\u5df1\u8bad\u7ec3\u6570\u636e\u5e76\u5b8c\u6210\u4efb\u52a1-\u6253\u50f5\u5c38\u4e3a\u4f8b\u5b50\n<\/h3>
\u53c2\u8003\u6559\u7a0b\uff1ayolo \u9501\u5934 \u6559\u7a0b<\/a><\/p>\n
\u6570\u636e\u96c6\u83b7\u53d6\n<\/h4>
\u9996\u5148\u4e0b\u8f7d\u4e00\u4e2a\u690d\u7269\u5927\u6218\u50f5\u5c38\u7ecf\u5178\u7248\u672c\u3002\u8fd9\u4e2a\u5c5e\u5b9e\u662f\u96be\u5012\u6211\u4e86\u3002\u3002\u3002\u6700\u540e\u5728\u690d\u7269\u5927\u6218\u50f5\u5c38\u5427\u627e\u5230\u4e86\u8d44\u6e90,\u5e76\u4e0b\u8f7d\u4e86\u5b8c\u7f8e\u5b58\u6863\u3002 
\n     
\n\u4e0b\u4e00\u6b65\u5c31\u662f\u5148\u81ea\u5df1\u73a9\u4e00\u628a\uff0c\u7136\u540e\u5f55\u5c4f\uff0c\u622a\u56fe\u51fa300\u5f20\u5de6\u53f3\u7684\u6570\u636e\u96c6\u3002 
\n<\/p>\n
\u6570\u636e\u6807\u6ce8\n<\/h4>
\u5148\u4f7f\u7528\u6559\u5b66\u89c6\u9891\u4e2dUP\u7ed9\u51fa\u7684\u6570\u636e\u96c6\u538b\u7f29\u5305\u8fdb\u884c\u81ea\u5df1\u7684\u8bad\u7ec3\uff0c\u540e\u7eed\u6709\u65f6\u95f4\u518d\u8bd5\u8bd5\u81ea\u5df1\u6807\u6ce8\u6570\u636e\u96c6\u3002<\/p>\n
\u8bad\u7ec3\u6570\u636e\n<\/h4>
\u8bbe\u7f6e\u8bad\u7ec3\u4e86500\u6b21 \u5b9e\u9645\u8bad\u7ec3\u4e86200+\u6b21\u6570  
\n   
\n<\/p>\n
\u8fd0\u884c\u7a0b\u5e8f\n<\/h4>
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span>28\n<\/span>29\n<\/span>30\n<\/span>31\n<\/span>32\n<\/span>33\n<\/span>34\n<\/span>35\n<\/span>36\n<\/span>37\n<\/span>38\n<\/span>39\n<\/span><\/code><\/pre><\/td>\n
\n
from<\/span> ultralytics<\/span> import<\/span> YOLO<\/span>  #\u5bfc\u5165<\/span>\n<\/span><\/span>import<\/span> pyautogui<\/span> as<\/span> pt<\/span>  # \u63a7\u5236\u9f20\u6807\u70b9\u51fb\u7684\u4e00\u4e2aPython\u5e93<\/span>\n<\/span><\/span>import<\/span> pygetwindow<\/span>      # \u5bfc\u5165pygetwindow\u5e93\uff0c\u7528\u4e8e\u83b7\u53d6\u7a97\u53e3\u4fe1\u606f<\/span>\n<\/span><\/span>import<\/span> numpy<\/span> as<\/span> np<\/span>   # \u5bfc\u5165numpy\u5e93\uff0c\u7528\u4e8e\u6570\u7ec4\u548c\u77e9\u9635\u64cd\u4f5c<\/span>\n<\/span><\/span>import<\/span> cv2<\/span> as<\/span> cv<\/span>    # \u5bfc\u5165OpenCV\u5e93\uff0c\u7528\u4e8e\u56fe\u50cf\u5904\u7406<\/span>\n<\/span><\/span>import<\/span> torch<\/span>   # \u5bfc\u5165PyTorch\u5e93\uff0c\u7528\u4e8e\u6df1\u5ea6\u5b66\u4e60\u64cd\u4f5c<\/span>\n<\/span><\/span>from<\/span> PIL<\/span> import<\/span> ImageGrab<\/span>   # \u4ecePillow\u5e93\u4e2d\u5bfc\u5165ImageGrab\uff0c\u7528\u4e8e\u5c4f\u5e55\u622a\u56fe<\/span>\n<\/span><\/span>\n<\/span><\/span>model<\/span> =<\/span> YOLO<\/span>(<\/span>"best.pt"<\/span>)<\/span>  # \u52a0\u8f7dYOLO\u6a21\u578b\uff0c\u4f7f\u7528\u8bad\u7ec3\u597d\u7684"best.pt"\u6743\u91cd\u6587\u4ef6<\/span>\n<\/span><\/span>\n<\/span><\/span>window_title<\/span> =<\/span> "\u690d\u7269\u5927\u6218\u50f5\u5c38\u4e2d\u6587\u7248"<\/span>  # \u8bbe\u7f6e\u76ee\u6807\u7a97\u53e3\u6807\u9898\u4e3a\u201c\u690d\u7269\u5927\u6218\u50f5\u5c38\u4e2d\u6587\u7248\u201d<\/span>\n<\/span><\/span>window<\/span> =<\/span> pygetwindow<\/span>.<\/span>getWindowsWithTitle<\/span>(<\/span>window_title<\/span>)[<\/span>0<\/span>]<\/span>  # \u83b7\u53d6\u8be5\u7a97\u53e3\u7684\u7a97\u53e3\u5bf9\u8c61<\/span>\n<\/span><\/span>\n<\/span><\/span>device<\/span> =<\/span> torch<\/span>.<\/span>device<\/span>(<\/span>"cuda:0"<\/span>)<\/span>  # \u8bbe\u7f6e\u8bbe\u5907\u4e3aGPU\uff08CUDA\uff09\uff0c\u786e\u4fddYOLO\u6a21\u578b\u5728GPU\u4e0a\u8fd0\u884c<\/span>\n<\/span><\/span>model<\/span>.<\/span>to<\/span>(<\/span>device<\/span>)<\/span>  # \u5c06\u6a21\u578b\u52a0\u8f7d\u5230GPU\u4e0a<\/span>\n<\/span><\/span>\n<\/span><\/span>while<\/span> True<\/span>:<\/span>\n<\/span><\/span>    if<\/span> window<\/span>:<\/span>   # \u68c0\u67e5\u76ee\u6807\u7a97\u53e3\u662f\u5426\u5b58\u5728<\/span>\n<\/span><\/span>        x<\/span>,<\/span> y<\/span>,<\/span> w<\/span>,<\/span> h<\/span> =<\/span> window<\/span>.<\/span>left<\/span>,<\/span> window<\/span>.<\/span>top<\/span>,<\/span> window<\/span>.<\/span>width<\/span>,<\/span> window<\/span>.<\/span>height<\/span>   # \u83b7\u53d6\u7a97\u53e3\u7684\u4f4d\u7f6e\u4fe1\u606f\u548c\u5927\u5c0f<\/span>\n<\/span><\/span>        screenshot<\/span> =<\/span> ImageGrab<\/span>.<\/span>grab<\/span>(<\/span>bbox<\/span>=<\/span>[<\/span>x<\/span>,<\/span> y<\/span>,<\/span> x<\/span> +<\/span> w<\/span>,<\/span> y<\/span> +<\/span> h<\/span>])<\/span>   # \u5bf9\u7a97\u53e3\u8fdb\u884c\u622a\u56fe<\/span>\n<\/span><\/span>        image_src<\/span> =<\/span> cv<\/span>.<\/span>cvtColor<\/span>(<\/span>np<\/span>.<\/span>array<\/span>(<\/span>screenshot<\/span>),<\/span> cv<\/span>.<\/span>COLOR_RGB2BGR<\/span>)<\/span>    # \u5c06\u622a\u56fe\u8f6c\u6362\u4e3aOpenCV\u652f\u6301\u7684BGR\u683c\u5f0f<\/span>\n<\/span><\/span>        size_x<\/span>,<\/span> size_y<\/span> =<\/span> image_src<\/span>.<\/span>shape<\/span>[<\/span>1<\/span>],<\/span> image_src<\/span>.<\/span>shape<\/span>[<\/span>0<\/span>]<\/span>     # \u83b7\u53d6\u622a\u56fe\u7684\u5bbd\u5ea6\u548c\u9ad8\u5ea6<\/span>\n<\/span><\/span>        image_det<\/span> =<\/span> cv<\/span>.<\/span>resize<\/span>(<\/span>image_src<\/span>,<\/span> (<\/span>640<\/span>,<\/span> 640<\/span>))<\/span>   # \u5c06\u622a\u56fe\u8c03\u6574\u4e3aYOLO\u6a21\u578b\u9700\u8981\u7684\u8f93\u5165\u5927\u5c0f\uff08640x640\uff09<\/span>\n<\/span><\/span>        result<\/span> =<\/span> model<\/span>.<\/span>predict<\/span>(<\/span>source<\/span>=<\/span>image_det<\/span>,<\/span> imgsz<\/span>=<\/span>640<\/span>,<\/span> conf<\/span>=<\/span>0.7<\/span>,<\/span> save<\/span>=<\/span>False<\/span>)<\/span>     # \u4f7f\u7528YOLO\u6a21\u578b\u8fdb\u884c\u76ee\u6807\u68c0\u6d4b<\/span>\n<\/span><\/span>        boxes<\/span> =<\/span> result<\/span>[<\/span>0<\/span>]<\/span>.<\/span>boxes<\/span>.<\/span>xywhn<\/span>    # \u83b7\u53d6\u68c0\u6d4b\u6846\u7684\u4e2d\u5fc3\u70b9\u548c\u5bbd\u9ad8\uff08\u5f52\u4e00\u5316\u5750\u6807\uff09<\/span>\n<\/span><\/span>        boxes<\/span> =<\/span> sorted<\/span>(<\/span>boxes<\/span>,<\/span> key<\/span>=<\/span>lambda<\/span> x<\/span>:<\/span>x<\/span>[<\/span>0<\/span>])<\/span>    # \u6309\u68c0\u6d4b\u6846\u7684x\u5750\u6807\u4ece\u5de6\u5230\u53f3\u6392\u5e8f<\/span>\n<\/span><\/span>        count<\/span> =<\/span> 0<\/span>   # \u521d\u59cb\u5316\u8ba1\u6570\u5668\uff0c\u7528\u4e8e\u9650\u5236\u70b9\u51fb\u6b21\u6570<\/span>\n<\/span><\/span>        for<\/span> box<\/span> in<\/span> boxes<\/span>:<\/span>  # \u904d\u5386\u6bcf\u4e2a\u68c0\u6d4b\u6846     # \u5728\u622a\u56fe\u4e2d\u7ed8\u5236\u68c0\u6d4b\u6846<\/span>\n<\/span><\/span>            cv<\/span>.<\/span>rectangle<\/span>(<\/span>image_src<\/span>,<\/span> (<\/span>int<\/span>((<\/span>box<\/span>[<\/span>0<\/span>]<\/span> -<\/span> box<\/span>[<\/span>2<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_x<\/span>),<\/span> int<\/span>((<\/span>box<\/span>[<\/span>1<\/span>]<\/span> -<\/span> box<\/span>[<\/span>3<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_y<\/span>)),<\/span>\n<\/span><\/span>                         (<\/span>int<\/span>((<\/span>box<\/span>[<\/span>0<\/span>]<\/span> +<\/span> box<\/span>[<\/span>2<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_x<\/span>),<\/span> int<\/span>((<\/span>box<\/span>[<\/span>1<\/span>]<\/span> +<\/span> box<\/span>[<\/span>3<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_y<\/span>)),<\/span> \n<\/span><\/span>                         color<\/span>=<\/span>(<\/span>255<\/span>,<\/span> 255<\/span>,<\/span> 0<\/span>),<\/span> thickness<\/span>=<\/span>2<\/span>)<\/span>\n<\/span><\/span>            pt<\/span>.<\/span>click<\/span>(<\/span>x<\/span>=<\/span>x<\/span> +<\/span> box<\/span>[<\/span>0<\/span>]<\/span> *<\/span> size_x<\/span>,<\/span> y<\/span>=<\/span>y<\/span> +<\/span> box<\/span>[<\/span>1<\/span>]<\/span> *<\/span> size_y<\/span>)<\/span>    # \u6a21\u62df\u9f20\u6807\u70b9\u51fb\u68c0\u6d4b\u6846\u4e2d\u5fc3<\/span>\n<\/span><\/span>            count<\/span> +=<\/span> 1<\/span>\n<\/span><\/span>            if<\/span> count<\/span> ><\/span> 4<\/span>:<\/span>   # \u5982\u679c\u70b9\u51fb\u6b21\u6570\u8d85\u8fc74\u6b21\uff0c\u9000\u51fa\u5faa\u73af<\/span>\n<\/span><\/span>                break<\/span>\n<\/span><\/span>        cv<\/span>.<\/span>imshow<\/span>(<\/span>"frame"<\/span>,<\/span> image_src<\/span>)<\/span>     # \u663e\u793a\u5b9e\u65f6\u5904\u7406\u540e\u7684\u56fe\u50cf\uff0c\u7a97\u53e3\u540d\u79f0\u4e3a\u201cframe\u201d<\/span>\n<\/span><\/span>        if<\/span> cv<\/span>.<\/span>waitKey<\/span>(<\/span>1<\/span>)<\/span> ==<\/span> ord<\/span>(<\/span>'q'<\/span>):<\/span>     # \u68c0\u6d4b\u952e\u76d8\u6309\u952e\uff0c\u5982\u679c\u6309\u4e0b\u2018q\u2019\uff0c\u9000\u51fa\u7a0b\u5e8f<\/span>\n<\/span><\/span>            break<\/span>\n<\/span><\/span>        pass<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u50f5\u5c38\u6c34\u65cf\u9986\n<\/h3>
\u5b9e\u73b0\u81ea\u52a8\u6536\u96c6\u9633\u5149\uff0c\u81ea\u52a8\u8d2d\u4e70\u50f5\u5c38\uff0c\u81ea\u52a8\u5582\u98df\u50f5\u5c38\u4e09\u4e2a\u529f\u80fd\u3002<\/p>\n
\u6570\u636e\u96c6\u5236\u4f5c\n<\/h4>
OBS\u5f55\u5c4f\uff0c\u4f7f\u7528Python\u4e2d\u7684CV\u5e93\u8fdb\u884c\u5904\u7406\uff0c\u622a\u56fe120\u5f20\u5de6\u53f3\u3002\u4eba\u5de5\u7b5b\u9009\u51fa\u5e26\u6709\u9633\u5149\u7684100\u5f20\u5de6\u53f3\u56fe\u7247\u3002  
\n\u4ee5\u4e0b\u662f\uff0c\u4f7f\u7528Python\u5bf9\u89c6\u9891\u8fdb\u884c\u622a\u56fe\u7684\u7a0b\u5e8f\uff1a<\/p>\n
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span><\/code><\/pre><\/td>\n
\n
import<\/span> cv2<\/span>\n<\/span><\/span>import<\/span> os<\/span>\n<\/span><\/span># \u8bbe\u7f6e\u89c6\u9891\u6587\u4ef6\u8def\u5f84<\/span>\n<\/span><\/span>video_path<\/span> =<\/span> 'textttt.mp4'<\/span>\n<\/span><\/span>output_folder<\/span> =<\/span> 'raw_picture'<\/span>\n<\/span><\/span># \u521b\u5efa\u8f93\u51fa\u6587\u4ef6\u5939\uff0c\u5982\u679c\u4e0d\u5b58\u5728\u7684\u8bdd<\/span>\n<\/span><\/span>if<\/span> not<\/span> os<\/span>.<\/span>path<\/span>.<\/span>exists<\/span>(<\/span>output_folder<\/span>):<\/span>\n<\/span><\/span>    os<\/span>.<\/span>makedirs<\/span>(<\/span>output_folder<\/span>)<\/span>\n<\/span><\/span># \u6253\u5f00\u89c6\u9891\u6587\u4ef6<\/span>\n<\/span><\/span>cap<\/span> =<\/span> cv2<\/span>.<\/span>VideoCapture<\/span>(<\/span>video_path<\/span>)<\/span>\n<\/span><\/span># \u83b7\u53d6\u89c6\u9891\u7684\u5e27\u7387\uff08FPS\uff09<\/span>\n<\/span><\/span>fps<\/span> =<\/span> cap<\/span>.<\/span>get<\/span>(<\/span>cv2<\/span>.<\/span>CAP_PROP_FPS<\/span>)<\/span>\n<\/span><\/span># \u83b7\u53d6\u89c6\u9891\u7684\u603b\u5e27\u6570<\/span>\n<\/span><\/span>frame_count<\/span> =<\/span> int<\/span>(<\/span>cap<\/span>.<\/span>get<\/span>(<\/span>cv2<\/span>.<\/span>CAP_PROP_FRAME_COUNT<\/span>))<\/span>\n<\/span><\/span># \u5faa\u73af\u8bfb\u53d6\u89c6\u9891\u5e27<\/span>\n<\/span><\/span>for<\/span> frame_num<\/span> in<\/span> range<\/span>(<\/span>0<\/span>,<\/span> frame_count<\/span>,<\/span> int<\/span>(<\/span>fps<\/span>)):<\/span>  # \u6bcf\u79d2\u622a\u56fe\u4e00\u6b21<\/span>\n<\/span><\/span>    cap<\/span>.<\/span>set<\/span>(<\/span>cv2<\/span>.<\/span>CAP_PROP_POS_FRAMES<\/span>,<\/span> frame_num<\/span>)<\/span>  # \u8bbe\u7f6e\u5f53\u524d\u5e27\u7684\u4f4d\u7f6e<\/span>\n<\/span><\/span>    ret<\/span>,<\/span> frame<\/span> =<\/span> cap<\/span>.<\/span>read<\/span>()<\/span>  # \u8bfb\u53d6\u5f53\u524d\u5e27<\/span>\n<\/span><\/span>    if<\/span> ret<\/span>:<\/span>\n<\/span><\/span>        # \u4fdd\u5b58\u5e27\u4e3a\u56fe\u7247<\/span>\n<\/span><\/span>        frame_filename<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>output_folder<\/span>,<\/span> f<\/span>'frame_<\/span>{<\/span>frame_num<\/span>}<\/span>.jpg'<\/span>)<\/span>\n<\/span><\/span>        cv2<\/span>.<\/span>imwrite<\/span>(<\/span>frame_filename<\/span>,<\/span> frame<\/span>)<\/span>\n<\/span><\/span>    else<\/span>:<\/span>\n<\/span><\/span>        break<\/span>\n<\/span><\/span># \u91ca\u653e\u89c6\u9891\u6587\u4ef6<\/span>\n<\/span><\/span>cap<\/span>.<\/span>release<\/span>()<\/span>\n<\/span><\/span>print<\/span>(<\/span>f<\/span>"\u5df2\u5b8c\u6210\u622a\u56fe\uff0c\u622a\u56fe\u4fdd\u5b58\u5728 '<\/span>{<\/span>output_folder<\/span>}<\/span>' \u6587\u4ef6\u5939\u4e2d\u3002"<\/span>)<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u4e4b\u540e\u4f7f\u7528RoboFlow\u5e73\u53f0\u8fdb\u884c\u5728\u7ebf\u6807\u6ce8\u3002<\/p>\n
RoboFlow\u5e73\u53f0\u6570\u636e\u96c6\u6807\u6ce8\n<\/h4>
\u4e0a\u4f20\u56fe\u7247\u5230RoboFlow\u5e73\u53f0\uff0c\u9009\u62e9\u4eba\u5de5\u6807\u6ce8\u3002\u8fd9\u91cc\u53ef\u4ee5\u9009\u81ea\u52a8\u6807\u6ce8\u4e0e\u5e73\u53f0\u5e2e\u4f60\u3002\u8fd9\u91cc\u6211\u4eec\u9009\u81ea\u5df1\u6807\u6ce8\u3002  
\n  
\n\u56fe\u7247\u603b\u6570100.\u8fd9\u91cc\u53ef\u4ee5\u56e2\u961f\u5206\u5de5\u3002  
\n  
\n\u5728\u7ebf\u6807\u6ce8\u5e73\u53f0   
\n
\n\u6807\u6ce8\u5b8c\u6210\u540e\uff0c\u9009\u62e9\u5206\u522b\u7528\u4e8e\u8bad\u7ec3\uff0c\u9a8c\u8bc1\uff0c\u4ee5\u53ca\u6d4b\u8bd5\u7684\u6bd4\u4f8b\u3002 
\n\u8bad\u7ec3\u5373\u8bad\u7ec3\u6a21\u578b\u7528\u7684\u56fe\u7247\uff0c\u9a8c\u8bc1\u5219\u4e3a\u5728\u8bad\u7ec3\u4e2d\u9a8c\u8bc1\u7684\u56fe\u7247\u3002\u4ee5\u53cd\u9988\u8bad\u7ec3\u6548\u679c\u3002\u6d4b\u8bd5\u5373\u8bad\u7ec3\u5b8c\u6210\u540e\u7684\u6d4b\u8bd5\u3002  
\n\u8fd9\u91cc\u9009\u62e9\u5e38\u7528\u6bd4\u4f8b7\uff1a2\uff1a1   
\n
\n\u6700\u7ec8\u5982\u4e0b\uff0c\u67094\u5f20\u56fe\u7247\u6ca1\u6709\u6807\u6ce8\uff0c\u4e5f\u5c31\u662f\u56fe\u7247\u4e2d\u6ca1\u6709\u76ee\u6807\u3002  
\n<\/p>\n
\u672c\u5730\u8bad\u7ec3\n<\/h4>
\u8bad\u7ec3\u540c\u4e0a 
\n<\/p>\n
\u8fd0\u884c\u7a0b\u5e8f\n<\/h4>
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span>28\n<\/span>29\n<\/span>30\n<\/span>31\n<\/span>32\n<\/span>33\n<\/span>34\n<\/span>35\n<\/span>36\n<\/span>37\n<\/span>38\n<\/span>39\n<\/span>40\n<\/span>41\n<\/span>42\n<\/span>43\n<\/span>44\n<\/span>45\n<\/span>46\n<\/span>47\n<\/span>48\n<\/span>49\n<\/span>50\n<\/span>51\n<\/span>52\n<\/span>53\n<\/span>54\n<\/span>55\n<\/span>56\n<\/span>57\n<\/span>58\n<\/span>59\n<\/span>60\n<\/span>61\n<\/span><\/code><\/pre><\/td>\n
\n
from<\/span> ultralytics<\/span> import<\/span> YOLO<\/span>  # \u5bfc\u5165YOLO\u6a21\u578b<\/span>\n<\/span><\/span>import<\/span> pyautogui<\/span> as<\/span> pt<\/span>  # \u63a7\u5236\u9f20\u6807\u70b9\u51fb\u7684Python\u5e93<\/span>\n<\/span><\/span>import<\/span> pygetwindow<\/span>      # \u5bfc\u5165pygetwindow\u5e93\uff0c\u7528\u4e8e\u83b7\u53d6\u7a97\u53e3\u4fe1\u606f<\/span>\n<\/span><\/span>import<\/span> numpy<\/span> as<\/span> np<\/span>   # \u5bfc\u5165numpy\u5e93\uff0c\u7528\u4e8e\u6570\u7ec4\u548c\u77e9\u9635\u64cd\u4f5c<\/span>\n<\/span><\/span>import<\/span> cv2<\/span> as<\/span> cv<\/span>    # \u5bfc\u5165OpenCV\u5e93\uff0c\u7528\u4e8e\u56fe\u50cf\u5904\u7406<\/span>\n<\/span><\/span>import<\/span> torch<\/span>   # \u5bfc\u5165PyTorch\u5e93\uff0c\u7528\u4e8e\u6df1\u5ea6\u5b66\u4e60\u64cd\u4f5c<\/span>\n<\/span><\/span>from<\/span> PIL<\/span> import<\/span> ImageGrab<\/span>   # \u4ecePillow\u5e93\u4e2d\u5bfc\u5165ImageGrab\uff0c\u7528\u4e8e\u5c4f\u5e55\u622a\u56fe<\/span>\n<\/span><\/span>import<\/span> time<\/span>   # \u5bfc\u5165time\u5e93\uff0c\u7528\u4e8e\u63a7\u5236\u70b9\u51fb\u95f4\u9694<\/span>\n<\/span><\/span># \u52a0\u8f7dYOLO\u6a21\u578b<\/span>\n<\/span><\/span>model<\/span> =<\/span> YOLO<\/span>(<\/span>"best.pt"<\/span>)<\/span>  # \u52a0\u8f7d\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u6743\u91cd\u6587\u4ef6<\/span>\n<\/span><\/span># \u8bbe\u7f6e\u76ee\u6807\u7a97\u53e3\u6807\u9898<\/span>\n<\/span><\/span>window_title<\/span> =<\/span> "\u690d\u7269\u5927\u6218\u50f5\u5c38\u4e2d\u6587\u7248"<\/span>\n<\/span><\/span>window<\/span> =<\/span> pygetwindow<\/span>.<\/span>getWindowsWithTitle<\/span>(<\/span>window_title<\/span>)[<\/span>0<\/span>]<\/span>  # \u83b7\u53d6\u7a97\u53e3\u5bf9\u8c61<\/span>\n<\/span><\/span># \u8bbe\u7f6e\u8bbe\u5907\u4e3aGPU<\/span>\n<\/span><\/span>device<\/span> =<\/span> torch<\/span>.<\/span>device<\/span>(<\/span>"cuda:0"<\/span>)<\/span>\n<\/span><\/span>model<\/span>.<\/span>to<\/span>(<\/span>device<\/span>)<\/span>  # \u5c06\u6a21\u578b\u52a0\u8f7d\u5230GPU\u4e0a<\/span>\n<\/span><\/span># \u8bbe\u7f6e\u70b9\u51fb\u76ee\u6807\u7684\u5750\u6807<\/span>\n<\/span><\/span>buy_zombie_position<\/span> =<\/span> (<\/span>window<\/span>.<\/span>left<\/span> +<\/span> 110<\/span>,<\/span> window<\/span>.<\/span>top<\/span> +<\/span> 70<\/span>)<\/span>  # \u53f3\u4e0a\u89d2\u4f4d\u7f6e<\/span>\n<\/span><\/span>feed_zombie_position1<\/span> =<\/span> (<\/span>window<\/span>.<\/span>left<\/span> +<\/span> window<\/span>.<\/span>width<\/span> \/\/<\/span> 2<\/span>,<\/span> window<\/span>.<\/span>top<\/span> +<\/span> window<\/span>.<\/span>height<\/span> \/\/<\/span> 2<\/span> -<\/span>100<\/span>)<\/span>  # \u4e2d\u95f4\u7a7a\u767d\u533a\u57df<\/span>\n<\/span><\/span>feed_zombie_position2<\/span> =<\/span> (<\/span>window<\/span>.<\/span>left<\/span> +<\/span> window<\/span>.<\/span>width<\/span> \/\/<\/span> 2<\/span> -<\/span> 100<\/span>,<\/span> window<\/span>.<\/span>top<\/span> +<\/span> window<\/span>.<\/span>height<\/span> \/\/<\/span> 2<\/span>-<\/span>100<\/span>)<\/span>  # \u4e2d\u95f4\u7a7a\u767d\u533a\u57df<\/span>\n<\/span><\/span>feed_zombie_position3<\/span> =<\/span> (<\/span>window<\/span>.<\/span>left<\/span> +<\/span> window<\/span>.<\/span>width<\/span> \/\/<\/span> 2<\/span> +<\/span> 100<\/span>,<\/span> window<\/span>.<\/span>top<\/span> +<\/span> window<\/span>.<\/span>height<\/span> \/\/<\/span> 2<\/span>-<\/span>100<\/span>)<\/span>  # \u4e2d\u95f4\u7a7a\u767d\u533a\u57df<\/span>\n<\/span><\/span>feed_zombie_position4<\/span> =<\/span> (<\/span>window<\/span>.<\/span>left<\/span> +<\/span> window<\/span>.<\/span>width<\/span> \/\/<\/span> 2<\/span> -<\/span> 100<\/span>,<\/span> window<\/span>.<\/span>top<\/span> +<\/span> window<\/span>.<\/span>height<\/span> \/\/<\/span> 2<\/span>)<\/span>  # \u4e2d\u95f4\u7a7a\u767d\u533a\u57df<\/span>\n<\/span><\/span>feed_zombie_position5<\/span> =<\/span> (<\/span>window<\/span>.<\/span>left<\/span> +<\/span> window<\/span>.<\/span>width<\/span> \/\/<\/span> 2<\/span> +<\/span> 100<\/span>,<\/span> window<\/span>.<\/span>top<\/span> +<\/span> window<\/span>.<\/span>height<\/span> \/\/<\/span> 2<\/span>)<\/span>  # \u4e2d\u95f4\u7a7a\u767d\u533a\u57df<\/span>\n<\/span><\/span># \u63a7\u5236\u70b9\u51fb\u95f4\u9694\u65f6\u95f4<\/span>\n<\/span><\/span>click_interval<\/span> =<\/span> 1<\/span>  # \u6bcf\u79d2\u70b9\u51fb\u4e00\u6b21<\/span>\n<\/span><\/span>while<\/span> True<\/span>:<\/span>\n<\/span><\/span>    if<\/span> window<\/span>:<\/span>   # \u68c0\u67e5\u76ee\u6807\u7a97\u53e3\u662f\u5426\u5b58\u5728<\/span>\n<\/span><\/span>        x<\/span>,<\/span> y<\/span>,<\/span> w<\/span>,<\/span> h<\/span> =<\/span> window<\/span>.<\/span>left<\/span>,<\/span> window<\/span>.<\/span>top<\/span>,<\/span> window<\/span>.<\/span>width<\/span>,<\/span> window<\/span>.<\/span>height<\/span>  # \u83b7\u53d6\u7a97\u53e3\u7684\u4f4d\u7f6e\u4fe1\u606f\u548c\u5927\u5c0f<\/span>\n<\/span><\/span>        screenshot<\/span> =<\/span> ImageGrab<\/span>.<\/span>grab<\/span>(<\/span>bbox<\/span>=<\/span>[<\/span>x<\/span>,<\/span> y<\/span>,<\/span> x<\/span> +<\/span> w<\/span>,<\/span> y<\/span> +<\/span> h<\/span>])<\/span>  # \u5bf9\u7a97\u53e3\u8fdb\u884c\u622a\u56fe<\/span>\n<\/span><\/span>        image_src<\/span> =<\/span> cv<\/span>.<\/span>cvtColor<\/span>(<\/span>np<\/span>.<\/span>array<\/span>(<\/span>screenshot<\/span>),<\/span> cv<\/span>.<\/span>COLOR_RGB2BGR<\/span>)<\/span>  # \u8f6c\u6362\u4e3aBGR\u683c\u5f0f<\/span>\n<\/span><\/span>        size_x<\/span>,<\/span> size_y<\/span> =<\/span> image_src<\/span>.<\/span>shape<\/span>[<\/span>1<\/span>],<\/span> image_src<\/span>.<\/span>shape<\/span>[<\/span>0<\/span>]<\/span>  # \u83b7\u53d6\u622a\u56fe\u7684\u5bbd\u5ea6\u548c\u9ad8\u5ea6<\/span>\n<\/span><\/span>        image_det<\/span> =<\/span> cv<\/span>.<\/span>resize<\/span>(<\/span>image_src<\/span>,<\/span> (<\/span>640<\/span>,<\/span> 640<\/span>))<\/span>  # \u8c03\u6574\u4e3aYOLO\u6a21\u578b\u9700\u8981\u7684\u8f93\u5165\u5927\u5c0f<\/span>\n<\/span><\/span>        result<\/span> =<\/span> model<\/span>.<\/span>predict<\/span>(<\/span>source<\/span>=<\/span>image_det<\/span>,<\/span> imgsz<\/span>=<\/span>640<\/span>,<\/span> conf<\/span>=<\/span>0.7<\/span>,<\/span> save<\/span>=<\/span>False<\/span>)<\/span>  # \u4f7f\u7528YOLO\u6a21\u578b\u8fdb\u884c\u76ee\u6807\u68c0\u6d4b<\/span>\n<\/span><\/span>        boxes<\/span> =<\/span> result<\/span>[<\/span>0<\/span>]<\/span>.<\/span>boxes<\/span>.<\/span>xywhn<\/span>  # \u83b7\u53d6\u68c0\u6d4b\u6846<\/span>\n<\/span><\/span>        boxes<\/span> =<\/span> sorted<\/span>(<\/span>boxes<\/span>,<\/span> key<\/span>=<\/span>lambda<\/span> x<\/span>:<\/span> x<\/span>[<\/span>0<\/span>])<\/span>  # \u6309x\u5750\u6807\u6392\u5e8f   <\/span>\n<\/span><\/span>        # \u5728\u53f3\u4e0a\u89d2\u8d2d\u4e70\u50f5\u5c38<\/span>\n<\/span><\/span>        # pt.click(buy_zombie_position)  # \u6a21\u62df\u70b9\u51fb\u53f3\u4e0a\u89d2\u8d2d\u4e70\u50f5\u5c38<\/span>\n<\/span><\/span>        # pt.click(feed_zombie_position1)  # \u6a21\u62df\u70b9\u51fb\u4e2d\u95f4\u4f4d\u7f6e\u5582\u98df\u50f5\u5c38<\/span>\n<\/span><\/span>        # pt.click(feed_zombie_position2)  # \u6a21\u62df\u70b9\u51fb\u4e2d\u95f4\u4f4d\u7f6e\u5582\u98df\u50f5\u5c38<\/span>\n<\/span><\/span>        # pt.click(feed_zombie_position3)  # \u6a21\u62df\u70b9\u51fb\u4e2d\u95f4\u4f4d\u7f6e\u5582\u98df\u50f5\u5c38<\/span>\n<\/span><\/span>        # pt.click(feed_zombie_position4)  # \u6a21\u62df\u70b9\u51fb\u4e2d\u95f4\u4f4d\u7f6e\u5582\u98df\u50f5\u5c38<\/span>\n<\/span><\/span>        # pt.click(feed_zombie_position5)  # \u6a21\u62df\u70b9\u51fb\u4e2d\u95f4\u4f4d\u7f6e\u5582\u98df\u50f5\u5c38<\/span>\n<\/span><\/span>        # \u904d\u5386\u6bcf\u4e2a\u68c0\u6d4b\u6846<\/span>\n<\/span><\/span>        count<\/span> =<\/span> 0<\/span>\n<\/span><\/span>        for<\/span> box<\/span> in<\/span> boxes<\/span>:<\/span>\n<\/span><\/span>            # \u5728\u622a\u56fe\u4e2d\u7ed8\u5236\u68c0\u6d4b\u6846<\/span>\n<\/span><\/span>            cv<\/span>.<\/span>rectangle<\/span>(<\/span>image_src<\/span>,<\/span> \n<\/span><\/span>                         (<\/span>int<\/span>((<\/span>box<\/span>[<\/span>0<\/span>]<\/span> -<\/span> box<\/span>[<\/span>2<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_x<\/span>),<\/span> int<\/span>((<\/span>box<\/span>[<\/span>1<\/span>]<\/span> -<\/span> box<\/span>[<\/span>3<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_y<\/span>)),<\/span>\n<\/span><\/span>                         (<\/span>int<\/span>((<\/span>box<\/span>[<\/span>0<\/span>]<\/span> +<\/span> box<\/span>[<\/span>2<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_x<\/span>),<\/span> int<\/span>((<\/span>box<\/span>[<\/span>1<\/span>]<\/span> +<\/span> box<\/span>[<\/span>3<\/span>]<\/span>\/<\/span>2<\/span>)<\/span> *<\/span> size_y<\/span>)),<\/span> \n<\/span><\/span>                         color<\/span>=<\/span>(<\/span>255<\/span>,<\/span> 255<\/span>,<\/span> 0<\/span>),<\/span> thickness<\/span>=<\/span>2<\/span>)<\/span>\n<\/span><\/span>            # \u5728\u68c0\u6d4b\u6846\u4e2d\u5fc3\u70b9\u51fb<\/span>\n<\/span><\/span>            pt<\/span>.<\/span>click<\/span>(<\/span>x<\/span>=<\/span>x<\/span> +<\/span> box<\/span>[<\/span>0<\/span>]<\/span> *<\/span> size_x<\/span>,<\/span> y<\/span>=<\/span>y<\/span> +<\/span> box<\/span>[<\/span>1<\/span>]<\/span> *<\/span> size_y<\/span>)<\/span>\n<\/span><\/span>            count<\/span> +=<\/span> 1<\/span>\n<\/span><\/span>            if<\/span> count<\/span> ><\/span> 1<\/span>:<\/span>  # \u5982\u679c\u70b9\u51fb\u6b21\u6570\u8d85\u8fc74\u6b21\uff0c\u9000\u51fa\u5faa\u73af<\/span>\n<\/span><\/span>                break<\/span>\n<\/span><\/span>        # \u663e\u793a\u5b9e\u65f6\u56fe\u50cf<\/span>\n<\/span><\/span>        cv<\/span>.<\/span>imshow<\/span>(<\/span>"frame"<\/span>,<\/span> image_src<\/span>)<\/span>\n<\/span><\/span>        # \u5982\u679c\u6309\u4e0b\u2018q\u2019\u952e\uff0c\u9000\u51fa\u7a0b\u5e8f \u4e0d\u77e5\u9053\u4e3a\u4ec0\u4e48 \u4e0d\u8d77\u4f5c\u7528<\/span>\n<\/span><\/span>        if<\/span> cv<\/span>.<\/span>waitKey<\/span>(<\/span>1<\/span>)<\/span> ==<\/span> ord<\/span>(<\/span>'q'<\/span>):<\/span>\n<\/span><\/span>            break<\/span>\n<\/span><\/span>cv<\/span>.<\/span>destroyAllWindows<\/span>()<\/span>  # \u5173\u95edOpenCV\u663e\u793a\u7a97\u53e3<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>"},{"title":"Simulink-PX4-WSL2\u4eff\u771f\u73af\u5883\u642d\u5efa","link":"https:\/\/a233a2.github.io\/p\/simulink-px4-wsl2%E4%BB%BF%E7%9C%9F%E7%8E%AF%E5%A2%83%E6%90%AD%E5%BB%BA\/","pubDate":"Fri, 29 Nov 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/simulink-px4-wsl2%E4%BB%BF%E7%9C%9F%E7%8E%AF%E5%A2%83%E6%90%AD%E5%BB%BA\/","description":"\"Featured
PX4-Simulink\u8054\u5408\u73af\u5883\u914d\u7f6e\n<\/h3>
\u53c2\u8003\u5982\u4e0b\u6559\u5b66\uff1a 
\nPX4\u4e0eSimulink\u8054\u5408\u4eff\u771f-\u5165\u95e8\u7bc7<\/a>        
\nPX4\u4e0eSimulink\u8054\u5408\u4eff\u771f-\u8fdb\u9636\u7bc7<\/a>  
\n\u4f7f\u7528Pixhawk2.4.8\u57fa\u4e8eSimulink\u8fdb\u884c\u5165\u95e8\u7ea7\u98de\u63a7\u7b97\u6cd5\u81ea\u4e3b\u5f00\u53d1\u7684\u64cd\u4f5c<\/a>  
\n\u57fa\u4e8eSimulink\u7684PX4\u98de\u63a7\u7b97\u6cd5\u7684\u5f00\u53d1\u5b9e\u8df5\uff081.\u786c\u4ef6\u652f\u6301\u5305\u914d\u7f6e\uff09<\/a>  
\n\u57fa\u4e8eSimulink\u7684ROS2\u4e0bPX4\u65e0\u4eba\u673a\u63a7\u5236\u6846\u67b6-\u5165\u95e8\u7bc7<\/a><\/p>\n
PX4\u7248\u672c\uff1a\u9002\u914dmatlab 2022b\u7684v1.12.3 
\nMatlab\u7248\u672c\uff1a2022b 
\nwindows\uff1aWindows11\u5bb6\u5ead\u7248 
\n\u9047\u5230\u7684\u9519\u8bef\uff1a\u5728\u7f16\u8bd1\u65f6\u4e00\u76f4\u63d0\u793a\u627e\u4e0d\u5230.px4\u6587\u4ef6\u7684\u9519\u8bef\u5982\u4e0b\u56fe\uff1a 
\n 
\n
\n\u76f4\u63a5\u653e\u5f032022\u7684\u4e86\uff0c\u6539\u75282024\u7684Matlab\u8fdb\u884c\u5f00\u53d1\u7684\u5c1d\u8bd5\u3002<\/p>\n
\u5f00\u53d1\u73af\u5883\u7684\u914d\u7f6e1\n<\/h3>
\u66f4\u6362\u5404\u90e8\u4ef6\u7248\u672c\u5982\u4e0b   
\n\u7535\u8111\uff1aLEGION Y7000P IRX9 LAPTOP<\/strong> 
\n\u786c\u4ef6\uff1aIntel(R) Core(TM) i7-14650HX   2.20 GHz + RTX4060 + 16GB<\/strong> 
\nPX4\u7248\u672c\uff1a\u9002\u914dmatlab 2024b\u7684v1.14<\/strong>     
\nMatlab\u7248\u672c\uff1a2024b<\/strong>       
\nwindows\uff1aWindows11\u4e13\u4e1a\u7248-24H2\u7248\u672c\uff08\u73b0\u6539\u7684\uff09<\/strong>       
\n\u9996\u5148\u5b89\u88c5\u5982\u4e0b\u7684\u51e0\u4e2a\u5fc5\u987b\u7684\u4f9d\u8d56\uff0c\u518d\u5b89\u88c5\u8fd9\u4e2a\u5de5\u5177\u7bb1\u3002   
\n 
\n\u5b89\u88c5\u7684\u9644\u52a0\u529f\u80fd\u5982\u4e0b 
\n<\/p>\n
WSL2\u7684\u5b89\u88c5\n<\/h4>
  
\n\u6b64\u65f6\u5728WSL\u4e2d\u6ca1\u6709Ubuntu\u7cfb\u7edf\uff0c\u9700\u8981\u5b89\u88c5\u4e00\u4e0b22.04\u7684ubuntu 
\n\u4e0d\u77e5\u9053\u4e3a\u5565\u8fd9win11\u7528wsl\u547d\u4ee4\u4e00\u76f4\u4e0b\u8f7d\u4e0d\u4e0b\u6765\uff0c\u5361\u57280%\u534a\u5929\u4e0d\u52a8\u3002\u7f51\u4e0a\u8bf4\u662f\u7cfb\u7edf\u66f4\u65b0\u7684\u539f\u56e0\u3002\u3002\u3002\u7f51\u4e0a\u5efa\u8bae\u53bb\u624b\u52a8\u4e0b\u8f7d\uff0c\u6216\u8005\u662fStore\u91cc\u9762\u4e0b\u8f7d\uff0c\u4f46\u662f\u6211Store\u4e5f\u662f\u6253\u4e0d\u5f00\uff0c\u6240\u4ee5\u624b\u52a8\u4e0b\u8f7d\u5730\u5740\u5982\u4e0b\uff1a 
\n\u4e0b\u8f7d\u5730\u5740\uff1aManual installation steps for older versions of WSL<\/a>\n  
\n\u5b89\u88c5\u5b8c\u540e\u663e\u793a\u8fd9\u4e2a\u9519\u8bef\uff0c\u662f\u56e0\u4e3a\u6211\u7684\u8bbe\u7f6e\u5bfc\u81f4\u65b0\u5e94\u7528\u5b89\u88c5\u5230\u4e86D\u76d8\uff0c\u9700\u8981\u66f4\u6539\u4ee5\u4e0bUbuntu\u7684\u4f4d\u7f6e\u5230C\u76d8\u3002 
\n  
\n\u5378\u8f7d\u91cd\u88c5\u4e00\u822c\u662f\u6ca1\u7528\u7684\uff0c\u8fd9\u4e2a\u8c8c\u4f3c\u662f\u9ed8\u8ba4\u5b89\u88c5\u5728\u4f60\u9009\u62e9\u7684\u9ed8\u8ba4\u5b89\u88c5\u4f4d\u7f6e\uff0c\u6240\u4ee5\u9700\u8981\u66f4\u6539\u9ed8\u8ba4\u5b89\u88c5\u4f4d\u7f6e\u518d\u5b89\u88c5\u6216\u8005\u662f\u76f4\u63a5\u79fb\u52a8App\u3002\n  
\n  
\n\u5378\u8f7d\u91cd\u88c5\u662f\u4e0d\u884c\u7684\uff0c\u9700\u8981\u9009\u62e9\u79fb\u52a8\u5230C\u76d8\u624d\u53ef\u4ee5\u3002\u3002\u3002  
\n  
\n\u4e4b\u540e\u6210\u529f\u5b89\u88c5\u4e86Ubuntu\u7cfb\u7edf 
\n  
\n\u4f46\u662f\u4ecd\u7136\u6253\u5f00\u5de5\u5177\u7bb1\u540e\u65e0\u6cd5\u8df3\u8f6c\u5230\u4e0b\u4e00\u6b65\uff0c\u6309\u7167\u793e\u533a\u7ed9\u7684\u6307\u793a\u64cd\u4f5c\u5982\u4e0b\u3002  
\n  
\n\u66f4\u6539\u4ee5\u4e0b\u7cfb\u7edf\u7684\u7c7b\u578b\u5230\u4e13\u4e1a\u7248\uff0c\u65b9\u4fbf\u540e\u7eed\u66f4\u6539\u7535\u8111\u7684\u8bed\u8a00\u3002  
\n  
\n\u5f04\u5230\u8fd9\u6211\u4e5f\u662f\u670d\u4e86\uff0c\u8fd9b win11\u8bed\u8a00\u4e00\u76f4\u4e0b\u8f7d\u4e0d\u4e0b\u6765\uff0c\u7f51\u4e0a\u5c1d\u8bd5\u4e86\u5404\u79cd\u529e\u6cd5\u90fd\u7279\u4e48\u4e0d\u884c\u3002  
\n\u7136\u540e\u91cd\u542f\u4e86\u51e0\u6b21\uff0c\u663e\u793a\u66f4\u65b0xxx\uff0c\u7ed3\u679c\u91cd\u65b0\u6253\u5f00matlab\u4e4b\u540e\u4fbf\u53ef\u4ee5\u8fdb\u884c\u5230\u4e0b\u4e00\u6b65\u4e86\u3002\u3002\u3002\u3002\u3002\u6211\u7279\u4e48\uff01       
\n\u5728\u8fd9\u91cc\u6000\u7591\u4e00\u4e2a\u5f88\u5927\u7684\u539f\u56e0\u662f\u6ca1\u6709\u8bbe\u7f6e\u9ed8\u8ba4WSL\u542f\u52a8\u4e3aubuntu\uff0c\u53ef\u4ee5\u6309\u7167matlab\u6587\u6863\u91cc\u9762\u8bbe\u7f6e\u4e00\u4e0b\uff0c\u5c31CMD\u4e00\u4e2a\u547d\u4ee4\u3002\u7136\u540e\u91cd\u542f\u6253\u5f00Matlab\u3002   
\n   
\nPS:\u6298\u817e\u4e86\u534a\u5929\uff0cwin11\u7684\u8bed\u8a00\u5305\u7ec8\u4e8e\u80fd\u4e0b\u8f7d\u4e86\uff0c\u4e0d\u8fc7\u4e5f\u6ca1\u7528\u4e86\u3002\u3002\u3002 
\n<\/p>\n
\u5f00\u53d1\u73af\u5883\u7684\u914d\u7f6e2\n<\/h3>
ok\uff0c\u8fc7\u4e86\u7b2c\u4e00\u6b65\u5269\u4e0b\u7684\u5176\u5b9e\u597d\u8bf4\u3002  
\n\u914d\u7f6e\u53c2\u8003\uff1ahttps:\/\/blog.csdn.net\/weixin_29062909\/article\/details\/138366879<\/p>\n
PX4\u6e90\u7801\u4e0b\u8f7d\n<\/h4>
\u8fd9\u91cc\u9009\u62e9Python\u5730\u5740\u6765\u9a8c\u8bc1\u3002\u6ca1\u6709\u5c1d\u8bd5\u8fc7\u4ed6\u7684\u81ea\u52a8\u4e0b\u8f7d\uff0c\u4e5f\u4e0d\u5efa\u8bae\u81ea\u52a8\u3002   
\n  
\n
\n\u8fd9\u91cc\u53bb\u4e0b\u8f7dPX4\u7684\u6e90\u7801\uff0c2024B\u7cfb\u5217Matlab\u652f\u6301\u7684\u662fPX4 v1.14\u7248\u672c   
\n   
\n\u8fd9\u91cc\u4e0e\u4e4b\u524d\u76842022\u7248\u672c\u7684Matlab\u7684UAV\u5de5\u5177\u7bb1\u4e0d\u540c\uff0c\u56fa\u4ef6\u8981\u4e0b\u8f7d\u5230WSL\u76ee\u5f55\u4e4b\u4e0b\u3002<\/p>\n
\n
Cloning the firmware in WSL2 home directory is crucial. If you clone it outside of the WSL file system, then you will encounter slow execution issues and access right \/ permission errors.\n\u5728 WSL2 \u4e3b\u76ee\u5f55\u4e2d\u514b\u9686\u56fa\u4ef6\u81f3\u5173\u91cd\u8981\u3002\u5982\u679c\u5c06\u5176\u514b\u9686\u5230 WSL \u6587\u4ef6\u7cfb\u7edf\u4e4b\u5916\uff0c\u90a3\u4e48\u60a8\u5c06\u9047\u5230\u6267\u884c\u7f13\u6162\u7684\u95ee\u9898\u548c\u8bbf\u95ee\u6743\u9650\/\u6743\u9650\u9519\u8bef\u3002<\/p>\n<\/blockquote>\n
\u6267\u884c\u5982\u4e0b\u7684\u547d\u4ee4\u4ee5\u5728WSL\u4e2d\u4e0b\u8f7d\u56fa\u4ef6\u3002\u53ef\u80fd\u5c31\u662f\u5b89\u88c5\u5230C\u76d8\u53bb\u4e86\uff0c\u4f5c\u4e3a\u6211\u8fd9\u4e2a\u4e0a\u53e4\u65f6\u4ee3\u7684\u7535\u8111\u5206\u76d8\u4f7f\u7528\u8005\u6765\u8bf4\u5f88\u4e0d\u53cb\u597d\uff0c\u5f04\u5f97\u6211\u5f88\u4e0d\u723d\u3002<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span>5\n<\/span>6\n<\/span><\/code><\/pre><\/td>\n
\n
mkdir mypx4\n<\/span><\/span>cd mypx4\n<\/span><\/span>git clone https:\/\/github.com\/PX4\/PX4-Autopilot.git --recursive\n<\/span><\/span>cd PX4-Autopilot\n<\/span><\/span>git checkout v1.14.0 -f\n<\/span><\/span>git submodule update --init --recursive\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u8fd9\u91cc\u51fa\u73b0\u4e86\u4e2a\u6ca1\u6709\u5206\u652f\u7684\u9519\u8bef\uff0c\u6211\u4eec\u521b\u5efa\u4e00\u4e2a\u3002\u4e0d\u521b\u5efa\u4e5f\u95ee\u9898\u4e0d\u5927\uff0c\u8fd9\u91cc\u5b98\u65b9\u6587\u6863\u4e2d\u5e76\u6ca1\u6709\u8fd9\u4e00\u6b65\u3002       
\ngit switch -c <v1.14><\/code>  
\n    
\n\u63a5\u4e0b\u6765\u5c31\u662f\u6f2b\u957f\u7684\u4e0b\u8f7dsubmodule\u65f6\u95f4\u3002\u3002\u3002\u3002     
\n\u4e0b\u8f7d\u5b8c\u6210\u540e\uff0c\u5bf9\u4e0a\u9762\u7684\u786c\u4ef6\u8bbe\u7f6e\u7a97\u53e3\uff0c\u70b9\u51fb\u4e0b\u4e00\u6b65\u3002\n\u5728\u6587\u4ef6\u8d44\u6e90\u7ba1\u7406\u5668\u4e2d\uff0c\u53ef\u4ee5\u627e\u5230Linux\u7684\u5730\u5740\uff0c\u4e00\u822c\u662fhome\u4e0b\uff0c\u627e\u5230\u5730\u5740\u590d\u5236\u8fc7\u53bb\u3002\u9a8c\u8bc1\u3002ok\uff01       
\n<\/p>\n
PX4 ToolChain\u4e0b\u8f7d\u4ee5\u53ca\u7f16\u8bd1\u7a0b\u5e8f\n<\/h4>
https:\/\/www.mathworks.com\/help\/releases\/R2024b\/uav\/px4\/ug\/setup-px4-toolchain-wsl.html<\/a> 
\n   
\n\u8ddf\u7740\u5b98\u7f51\u6559\u7a0b\u8fdb\u5165\u76ee\u5f55 \u8fd0\u884c\u811a\u672c\u4e0b\u8f7d\u5373\u53ef\u3002\u8fd9\u4e9b\u90fd\u662f\u524d\u4eba\u4e3a\u6211\u4eec\u94fa\u597d\u7684\u8def\u3002    
\n\u6b64\u5904\u65f6\u95f4\u8f83\u957f\u53ef\u4ee5\u7ed9\u81ea\u5df1\u5f04\u676f\u5496\u5561\u7b49\u7740\u3002\u3002\u3002\u3002      
\n  
\n\u4e0b\u9762\u68c0\u9a8c\u4e0b\u5de5\u5177\u94fe\u7684\u5b89\u88c5\u662f\u5426\u6b63\u786e\u3002   
\n\u5728PX4-Autopilot\u76ee\u5f55\u4e0b\u8fd0\u884c\u4e86make px4_fmu-v3_default   
\n\u51fa\u73b0\u4e86\u5728ubuntu\u914d\u7f6e\u65f6\u4ee5\u524d\u9047\u5230\u8fc7\u7684\u7f3a\u5c11STM32\u5728Linux\u4e0b\u5f00\u53d1\u5de5\u5177\u7684\u9519\u8bef\u3002    
\n\u4e4b\u524d\u7684\u89e3\u51b3\u65b9\u6cd5\uff1a\u7f16\u8bd1\u65f6\u62a5\u9519\uff1aThe CMAKE_CXX_COMPILER arm-none-eabi is not a full path and was not found in the PATH.\u7684\u95ee\u9898\u89e3\u51b3\u65b9\u6cd5<\/a>   
\n\u91cd\u542f\u4e4b\u540e\uff0c\u4e4b\u524d\u7684\u9519\u8bef\u5c45\u7136\u6ca1\u4e86\u3002\u6210\u529f\u7f16\u8bd1\u3002<\/strong>   
\n\u8fd9\u91cc\u4e0e\u6211\u4e4b\u524dubuntu\u4e0b\u914d\u7f6e\u4e00\u6837\u3002\u6211\u4e0d\u7981\u601d\u8003\u6211\u5728\u914d\u7f6eubuntu\u65f6\uff0c\u662f\u4e0d\u662f\u91cd\u542f\u4e00\u4e0b\u4e5f\u80fd\u89e3\u51b3\u5462\uff1f<\/strong>    
\n<\/p>\n
\u914d\u7f6e\u5f15\u5bfc\u9875\u9762\n<\/h4>
\u91cd\u542f\u4e4b\u540e\uff0c\u8fd9\u4e2a\u5bfc\u5f15\u7a97\u53e3\u4e5f\u6ca1\u4e86\u5b89\u88c5\u5de5\u5177\u94fe\u90a3\u4e00\u6b65\u4e86\u3002   
\n\u8ba9\u6211\u4eec\u786e\u8ba4 
\n  
\n\u7ffb\u8bd1\u5982\u4e0b\uff1a 
\n\u5e94\u8be5\u662f\u95ee\u4f60\u662f\u5426\u8981\u81ea\u5df1\u8bbe\u8ba1\u63a7\u5236\u5668\uff0c\u81ea\u5df1\u8981\u8bbe\u8ba1\u63a7\u5236\u5668\u7684\u8bdd\uff0c\u52fe\u9009\uff0c\u540e\u7eed\u53ef\u80fd\u9700\u8981\u81ea\u5df1\u642d\u5efa\u3002  
\n\u6211\u4eec\u6b64\u5904\u9009\u9879\u52fe\u9009\u3002\u4e0d\u52fe\u9009\u7684\u4ee5\u540e\u518d\u8bd5\u8bd5\u3002 
\n  
\n\u4e0b\u4e00\u6b65\uff0c\u9009\u62e9\u6211\u4eec\u7684F427\u8001\u7237\u98de\u63a7\u3002 
\n<\/p>\n
\u5e94\u8be5\u662f\u9009\u81ea\u542f\u52a8\u811a\u672c\u3002\u7b2c\u4e00\u4e2a\u662f\u9009\u62e9\u5728PX4\u81ea\u8eab\u4e2d\u7684\u9ed8\u8ba4\u542f\u52a8\u811a\u672c\u3002\u7b2c\u4e8c\u4e2a\u662f\u9009\u62e9\u5728SD\u5361\u4e2d\u7684\u7528\u6237\u7f16\u8f91\u7684\u811a\u672c\u3002 
\nCSDN\u535a\u4e3b\u8bf4\u9009\u62e9\u7b2c\u4e8c\u4e2a\u8f83\u4e3a\u7e41\u7410\uff0c\u90a3\u6211\u4eec\u9009\u7b2c\u4e00\u4e2a\u3002 
\n  
\n\u786e\u5b9aQGC\u5730\u9762\u7ad9\u7684\u4f4d\u7f6e\n  
\n\u8fd9\u4e00\u6b65\uff0c\u5e94\u8be5\u662f\u8ba9\u6211\u4eec\u5728QGC\u4e2d\u9009\u62e9\u9e21\u67b6,\u5148\u4e0b\u4e00\u6b65\u5427\u3002Mavlink\u8fd8\u6ca1\u8fde\u63a5\u4e0a\u5e94\u8be5\u4e5f\u9009\u62e9\u4e0d\u4e86\u3002     
\n  
\n  
\n\u7f16\u8bd1\u5de5\u7a0b\u3002\u6211\u4eec\u52fe\u9009\u5220\u9664\u6240\u6709\u76ee\u6807xxxx\u3002\n\u6211\u4eec\u4e4b\u524d\u4eba\u5de5make\u6784\u5efa\u4e86\u4e00\u6b21\uff0c\u8fd9\u91cc\u518d\u70b9\u4e00\u6b21\uff0c\u76f4\u63a5\u79d2\u6210\u529f\u4e86\u3002\u53ef\u80fd\u662f\u68c0\u6d4b\u5230\u4e86\u4e4b\u524d\u6784\u5efa\u4ea7\u751f\u7684px4\u6587\u4ef6\u3002     
\n   
\n  
\n\u518d\u6b21\u5728matlab\u4e2d\u6784\u5efa\uff0c\u4f9d\u7136\u6210\u529f\u3002      
\n  
\n\u8fd9\u91cc\u53eb\u6211\u4eec\u6d4b\u8bd5\u786c\u4ef6\u8fde\u63a5\u3002\u8fd9\u91cc\u6211\u62ff\u4e4b\u524d\u710a\u7684PX4\u8fdb\u884c\u8fde\u63a5\u3002     
\n  
\n\u8fde\u63a5\u4e0a\u4e4b\u540e\u70e7\u5f55\u56fa\u4ef6\u3002\u5982\u679c\u5f00\u7740QGC\uff0c\u9700\u8981\u5173\u6389\u3002\u5426\u5219\u4e32\u53e3\u5360\u7528\u6ca1\u6cd5\u4e0b\u8f7d 
\n  
\n   
\nMatlab\u9875\u9762\u663e\u793a\u4e0b\u8f7d\u70e7\u5f55\u5b8c\u6210\u3002 
\n  
\n\u53ef\u4ee5\u9a8c\u8bc1\u4ee5\u4e0b\u9640\u87ba\u4eea\u52a0\u901f\u5ea6\u6570\u636e\u3002\u53ef\u4ee5\u770b\u5230\u6211\u8fd9\u91cc\u80fd\u6b63\u5e38\u8bfb\u53d6\u6570\u636e\u3002 
\n 
\n<\/p>\n
\u83b7\u53d6\u9640\u87ba\u4eea\u6570\u636e\u7684Simulink\u5b9e\u4f8b\u7a0b\u5e8f\n<\/h3>
\u5b98\u65b9\u6559\u7a0b\u5730\u5740\uff1aGetting Started with Connected I\/O for PX4 Host Target<\/a>   
\n\u8fd9\u53ef\u4ee5\u4f5c\u4e3a\u6211\u4eec\u7684\u7b2c\u4e00\u4e2a\u5f00\u53d1\u7a0b\u5e8f\u3002  
\n\u5728simulink\u5efa\u6a21\u4e2d\uff0c\u6a21\u578b\u8bbe\u7f6e\uff0c\u6309\u7167\u5b98\u65b9\u7ed9\u51fa\u7684\u6307\u5bfc\u8bbe\u7f6e\u5982\u4e0b\u3002 
\n 
\nSimulink\u5efa\u7acb\u4e00\u4e2a\u8fd9\u6837\u7684\u7b80\u5355\u8bfb\u53d6\u6570\u636e\u7684\u6a21\u578b\u3002 
\n 
\n\u53ef\u4ee5\u770b\u5230\u53ef\u4ee5\u6210\u529f\u8bfb\u53d6\u5230\u6570\u636e\uff0c\u4eff\u771f10\u79d2\u3002\u4e4b\u524d\u6211\u6ca1\u52a8\uff0c\u540e\u9762\u52a8\u4e86\u4e24\u4e0b\u3002\u5b9e\u5728\u662f\u592a\u5f00\u5fc3\u4e86\u3002     
\n
\n\u518d\u6765\u4e00\u5f20\u5427  
\n<\/p>\n
\u914d\u5408\u53ef\u89c6\u5316\u5e73\u53f0\u8fdb\u884c\u4eff\u771f\n<\/h3>
\u6839\u636e\u6559\u7a0bPX4\u4e0eSimulink\u8054\u5408\u4eff\u771f-\u5165\u95e8\u7bc7<\/a>        
\n\u6211\u4eec\u65b0\u5efa\u4e00\u4e2a\u63a7\u5236\u7535\u673aPWM\u7684\u6a21\u578b\u5982\u4e0b\u56fe\u6240\u793a\uff1a   
\n\u9996\u5148\u521b\u5efa\u4e00\u4e2a\u5f00\u5173\uff0c\u8fde\u63a5PWM\u6a21\u5757\u7684\u89e3\u9501\u7aef\u53e3\u3002\u5e76\u5c06\u5f00\u5173\u7684\u6a21\u5757\u540cConst\u6a21\u5757\u8fde\u63a5\u8d77\u6765\uff0c\u4f7f\u5f97\u6253\u5f00\u5f00\u5173\uff0c\u503c\u4e3a1\uff0c\u5426\u5219\u4e3a0\u3002   
\n 
\n\u8bbe\u7f6e\u6570\u636e\u7c7b\u578b\u3002\u524d\u4e24\u4e2a\u8bbe\u7f6e\u4e3a\u5e03\u5c14\u7c7b\u578b\uff0c\u540e\u9762\u7684CH\u901a\u9053\u7684PWM\u8f93\u5165\u8bbe\u7f6e\u4e3auint16\u7c7b\u578b\u3002 
\n 
\n\u8bbe\u7f6e\u786c\u4ef6\u53c2\u6570\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002\u914d\u5408jMAVSim\u8fdb\u884c\u53ef\u89c6\u5316\u4eff\u771f\u3002\u53e6\u5916\uff0c\u4eff\u771f\u8fd0\u884c\u65f6\u95f4\u8bbe\u7f6e\u4e3a\u65e0\u7a77\uff0c\u5373\u8bbe\u7f6e\u4e3ainf\u3002 
\n<\/p>\n
\u8fdb\u5165Ubuntu\u7ec8\u7aef\uff0c\u8fd0\u884cjmavsim\u53ef\u89c6\u5316\u4eff\u771f\u7a0b\u5e8f\u3002  
\n<\/p>\n
jmavsim\u7a0b\u5e8f\u5df2\u7ecf\u542f\u52a8\u3002Simulink\u4e2d\u70b9\u51fbRun In IO \u5373\u53ef\u5f00\u59cb\u3002\u6b64\u5904JmavSim\u81ea\u52a8\u5173\u95ed\u7684\u8bdd\u9700\u8981\u518d\u6267\u884c\u547d\u4ee4\u5c06\u5176\u6253\u5f00\uff0c\u81ea\u52a8\u5173\u95ed\u662f\u56e0\u4e3a\u7f3a\u5c11\u81ea\u52a8\u542f\u52a8\u7684\u811a\u672c\u5bfc\u81f4\u7684\u3002      
\n<\/p>\n"},{"title":"PADS\u5c0f\u8bb0","link":"https:\/\/a233a2.github.io\/p\/pads%E5%B0%8F%E8%AE%B0\/","pubDate":"Thu, 21 Nov 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/pads%E5%B0%8F%E8%AE%B0\/","description":"\"Featured
\u57fa\u7840\u64cd\u4f5c\n<\/h2>
PADS\u7b80\u6613\u6559\u7a0b<\/a> 
\nEDAHelper<\/a>–EDA\u589e\u5f3a\u5de5\u5177       
\n\u6559\u7a0b | 24\u5c0f\u65f6\u6559\u4f1a\u4f7f\u7528PADS\u8fdb\u884cPCB\u8bbe\u8ba1<\/a>  
\nPADS \u5165\u95e8\u6559\u7a0b\uff08\u4e00\uff09<\/a> 
\nPADS VX\u7cfb\u5217 \u5168\u5957\u96f6\u57fa\u7840\u5165\u95e8PCB Layout\u8bbe\u8ba1\u5b9e\u6218\u89c6\u9891\u6559\u7a0bPCB\u8bbe\u8ba1\u57f9\u8bad\u51e1\u4ebf\u6559\u80b2<\/a> 
\nPADS Layout\uff1a\u5c01\u88c5\nPADS Logic\uff1a\u539f\u7406\u56fe\nPADS Router\uff1a\u5e03\u7ebf<\/p>\n
\u7ed8\u5236\u677f\u6846\n<\/h3>
<\/p>\n
\n
\u5728Layout\u9875\u9762\u53f3\u4e0b\u89d2\u53ef\u4ee5\u5207\u6362mm\u6216\u8005mil\u5355\u4f4d\u3002<\/p>\n<\/blockquote>\n
\u5168\u9009\u753b\u7684\u7ebf\uff0c\u53f3\u952e\u9009\u62e9\u7279\u6027\uff0c\u7c7b\u578b\u9009\u62e9\u677f\u6846\u3002\u53e6\u5916i\u6709DXF\u6587\u4ef6\u4e5f\u53ef\u4ee5\u5bfc\u5165DXF\u6587\u4ef6\u6765\u786e\u5b9a\u677f\u6846\u3002<\/p>\n
\u539f\u7406\u56fe\u8f6cPCB\n<\/h3>
\u539f\u7406\u56fe\u4e0ePCB\u901a\u8fc7Logic\u8fde\u63a5\u3002\u70b9\u51fb\u53d1\u9001\u7f51\u8868\u5373\u53ef\u3002\u4e5f\u53ef\u4ee5\u5728PCB\u9875\u9762\u624b\u52a8\u5bfc\u5165\u7f51\u8868\uff08.asc\u6587\u4ef6\uff09  
\n  
\n\u7136\u540e\u5728\u539f\u7406\u56fe\u4e2d\u52fe\u9009\u90e8\u5206\u5143\u4ef6\uff0c\u5728PCB\u4e0a\u53f3\u952e\u52fe\u9009\u7684\u5143\u4ef6\uff0c\u70b9\u51fb\u201c\u5206\u6563\u201d\u5373\u53ef\u5c06\u5143\u4ef6\u5206\u6563\u5f00\uff0c\u65b9\u4fbf\u4e4b\u540e\u5e03\u5c40\u3002<\/p>\n
\n
PS\uff1a\u5728\u539f\u7406\u56fe\u9009\u62e9\u540e\uff0c\u5728PCB\u4e0a\u9ad8\u4eae\u3002\u5feb\u6377\u952eCtrl+E<\/strong>\u53ef\u4ee5\u5feb\u901f\u9009\u62e9\u79fb\u52a8\u3002<\/p>\n<\/blockquote>\n
Layout\n<\/h3>
\u5e03\u5c40\u4f4d\u7f6e\u786e\u5b9a\u540e\uff0c\u53ef\u4ee5\u53f3\u952e\u5668\u4ef6\u9009\u62e9\u7279\u6027\uff0c\u52fe\u9009\u80f6\u7c98G\u3002\u53ef\u4ee5\u9632\u6b62\u8bef\u79fb\u3002<\/p>\n
\u5f97\u5230PCB\u548cSCH\u5de5\u7a0b\u540e\u5982\u4f55\u5efa\u5e93\u5173\u8054\n<\/h3>
\u539f\u7406\u5c31\u662f\u65b0\u5efa\u4e00\u4e2a\u5e93\uff0c\u628a\u6240\u6709\u73b0\u5b58\u7684\u5c01\u88c5\u90fd\u52a0\u8fdb\u53bb\uff0c\u7136\u540e\u5c31\u53ef\u4ee5\u4e86\uff0c\u5341\u5206\u7b80\u5355\u3002  
\n\u9996\u5148\u65b0\u5efa\u4e00\u4e2a\u5e93\uff0c\u5c06\u5176\u653e\u5230\u6700\u5f00\u59cb\u3002\u8fd9\u6837\u7d22\u5f15\u7684\u65f6\u5019\u53ef\u4ee5\u6700\u5148\u7d22\u5f15\u3002  
\n   
\n\u9009\u62e9\u539f\u7406\u56fe\u4e2d\u7684\u5143\u4ef6\uff0c\u53ea\u9009\u539f\u4ef6\u3002 
\n   
\n\u9009\u4e2d\u540e\uff0c\u53f3\u952e\u9009\u62e9\u4fdd\u5b58\u5230\u5e93\u4e2d\u3002 
\n   
\n\u5168\u9009-\u786e\u5b9a\u3002\u63d0\u793a\u6709\u91cd\u590d\u7684\u8bdd\u76f4\u63a5\u8986\u76d6\u5c31\u53ef\u4ee5\u3002 
\n   
\nPCB\u4e5f\u662f\u5982\u6b64\uff0c\u5728\u5f00\u59cb\u65f6\uff0c\u53ef\u80fd\u7531\u4e8e\u6709\u80f6\u7c98\u5143\u4ef6\u7684\u8bbe\u7f6e\u65e0\u6cd5\u9009\u4e2d\u5143\u4ef6\uff0c\u5728\u7a7a\u767d\u5904\u53f3\u952e\u9009\u62e9\u7b5b\u9009\u6761\u4ef6\uff0c\u628a\u80f6\u7c98\u5143\u4ef6\u52fe\u9009\u4e0a\u3002 
\n   
\n\u4e00\u6837\u7684\u64cd\u4f5c\uff0c\u5168\u9009\uff0c\u8986\u76d6\u3002  
\n   
\n   
\n\u4e4b\u540ePCB\u548c\u539f\u7406\u56fe\u4e2d\u7684\u5c01\u88c5\u5c31\u5bf9\u5e94\u8d77\u6765\u4e86\u3002\u53ef\u4ee5\u8fdb\u884c\u4e8c\u6b21\u5f00\u53d1\u4e86\u3002<\/p>\n"},{"title":"Docker\u4f7f\u7528\u5c0f\u8bb0","link":"https:\/\/a233a2.github.io\/p\/docker%E4%BD%BF%E7%94%A8%E5%B0%8F%E8%AE%B0\/","pubDate":"Wed, 20 Nov 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/docker%E4%BD%BF%E7%94%A8%E5%B0%8F%E8%AE%B0\/","description":"\"Featured
\u53c2\u8003\uff1a\nDocker-\u4ece\u5165\u95e8\u5230\u5b9e\u8df5<\/a>—\u4e00\u672c\u4e66 
\n\u6c42\u6c42\u4f60\u4e86\uff0c\u7528Docker\u5427<\/a>—\u67d0\u535a\u5ba2    
\nDocker\u5b89\u88c5\u6559\u7a0b<\/a>—\u5b98\u65b9\u5b89\u88c5\u6559\u7a0b     
\nGeekHour-30\u5206\u949fDocker\u5165\u95e8\u6559\u7a0b<\/a>—\u7279\u522b\u68d2<\/p>\n
Docker\u57fa\u7840\u7684\u51e0\u4e2a\u6982\u5ff5\n<\/h2>
\u955c\u50cf Image\n<\/h3>
\u7406\u89e3\u4e3a\u4e00\u4e2a\u865a\u62df\u673a\u7684\u5feb\u7167\uff0c\u5185\u90e8\u5305\u542b\u8981\u90e8\u7f72\u7684\u5e94\u7528\u7a0b\u5e8f\u4ee5\u53ca\u4ed6\u6240\u5173\u8054\u7684\u6240\u6709\u5e93\u3002 
\n\u662f\u4e00\u4e2a\u5305\u542b\u6709\u6587\u4ef6\u7cfb\u7edf\u7684\u9762\u5411Docker\u5f15\u64ce\u7684\u53ea\u8bfb\u6a21\u677f\u3002\u955c\u50cf\u662f\u4e00\u4e2a\u6a21\u677f,\u88c5\u4e86\u4e00\u4e9b\u7cfb\u7edf\u7684\u914d\u7f6e\u6587\u4ef6, \u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u955c\u50cf\u5efa\u7acb\u66f4\u591a\u7684\u5bb9\u5668, \u5bb9\u5668\u4ece\u955c\u50cf\u542f\u52a8\u65f6,Docker\u5728\u955c\u50cf\u7684\u4e0a\u5c42\u521b\u5efa\u4e00\u4e2a\u53ef\u5199\u5c42, \u955c\u50cf\u672c\u8eab\u4e0d\u53d8\u3002<\/p>\n
\u5bb9\u5668 Container\n<\/h3>
\u901a\u8fc7\u955c\u50cfImage\uff0c\u53ef\u4ee5\u521b\u5efa\u8bb8\u591a\u4e0d\u540c\u7684\u5bb9\u5668Container\u3002\u5bb9\u5668\u53ef\u4ee5\u6bd4\u55bb\u4e3a\u4e00\u53f0\u53f0\u8fd0\u884c\u8d77\u6765\u7684\u865a\u62df\u673a\uff0c\u5bb9\u5668\u4e2d\u8fd0\u884c\u7740\u8981\u90e8\u7f72\u7684\u7a0b\u5e8f\u3002\u6bcf\u4e2a\u5bb9\u5668\u76f8\u4e92\u72ec\u7acb\u8fd0\u884c\uff0c\u4e92\u4e0d\u5f71\u54cd\u3002       
\n\u5bb9\u5668\u662f\u57fa\u4e8e\u955c\u50cf\u521b\u5efa, \u76f8\u4e92\u9694\u79bb\u7684, \u53ef\u4ee5\u7406\u89e3\u4e3a\u5c0f\u578b\u865a\u62df\u673a\uff0c\u771f\u6b63\u7684\u6267\u884c\u5355\u5143\u3002
\n\u76f8\u5f53\u4e8e\u6bcf\u4e00\u4e2a\u5b9e\u4f8b\u3002
\n\u4e00\u53f0\u8ba1\u7b97\u673a\u4e0a\u53ef\u4ee5\u8fd0\u884c\u51e0\u4e2a\u865a\u62df\u673a\uff0c\u4f46\u662f\u53ef\u4ee5\u8fd0\u884c\u51e0\u767e\u4e2a\u5bb9\u5668\u3002<\/p>\n
\u5bb9\u5668\u548c\u955c\u50cf\u7684\u5173\u7cfb\n<\/h3>
\u955c\u50cf\u548c\u5bb9\u5668\u7684\u5173\u7cfb\u5c31\u50cfjava\u4e2d\u7c7b\u548c\u5b9e\u4f8b\u7684\u5173\u7cfb\u4e00\u6837\uff08\u6211\u4e5f\u6ca1\u5b66\u8fc7java..\u6284\u7684\uff09 
\n\u955c\u50cf\u5c31\u7c7b\u4f3c\u4e00\u4e2a\u98df\u8c31\uff0c\u5bb9\u5668\u5c31\u662f\u6839\u636e\u98df\u8c31\u505a\u51fa\u6765\u7684\u4e00\u9053\u83dc\u3002<\/p>\n
Dockerfile\n<\/h4>
\u81ea\u52a8\u5316\u811a\u672c\uff0c\u7528\u4ee5\u521b\u5efa\u955c\u50cf\u3002
\n<\/p>\n
Docker \u4ed3\u5e93-Docker Repository\n<\/h4>
\u5b58\u653e\u955c\u50cf\u7684\u4ed3\u5e93 
\n\u6700\u6d41\u884c\u7684\u662fDockerHub\uff0c\u662f\u4e00\u4e2a\u516c\u5171\u4ed3\u5e93\uff0c\u96c6\u4e2d\u5b58\u50a8\u548c\u7ba1\u7406Docker\u955c\u50cf\u3002\u53e6\u5916\u8fd8\u6709Harbor<\/p>\n
Docker\u5bb9\u5668\u5316\n<\/h2>
\u5c06\u5e94\u7528\u7a0b\u5e8f\u6253\u5305\u6210\u5bb9\u5668\uff0c\u7136\u540e\u5728\u5bb9\u5668\u4e2d\u8fd0\u884c\u7a0b\u5e8f\u7684\u8fc7\u7a0b\u3002 
\n1# \u521b\u5efaDockerfile \u544a\u8bc9Docker\u6784\u5efa\u5e94\u7528\u7a0b\u5e8f\u955c\u50cf\u6240\u9700\u7684\u6b65\u9aa4\u4ee5\u53ca\u914d\u7f6e\u3002     
\n2# \u4f7f\u7528Dockerfile\u6784\u5efa\u955c\u50cf\u3002 
\n3# \u4f7f\u7528\u955c\u50cf\u521b\u5efa\u548c\u8fd0\u884c\u5bb9\u5668\u3002<\/p>\n
Docker\u7b80\u5355HelloDocker\u5b9e\u8df5\n<\/h2>
\u521b\u5efaHelloDocker\u6587\u4ef6\uff0c\u521b\u5efanode.js\u6587\u4ef6<\/p>\n
\n
\n
1\n<\/span><\/code><\/pre><\/td>\n
\n
console.log("\u6b22\u8fce\u6765\u5230Docker\uff01")     \n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
Dockerfile\u4e2d\u5199\u5165\u5982\u4e0b\u7684\u8fd0\u884c\u6d41\u7a0b\uff0c\u4ea4\u7ed9Docker\u81ea\u52a8\u8fd0\u884c\u3002 
\n   
\n\u9879\u76ee\u6839\u76ee\u5f55\u521b\u5efa\u540d\u4e3aDockerfile\u7684\u6587\u4ef6<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span><\/code><\/pre><\/td>\n
\n
FROM node:14-alpine\n<\/span><\/span>COPY index.js \/index.js\n<\/span><\/span>CMD ["node","\/index.js"]\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u8f93\u51fa\u7ed3\u679c\uff1a 
\n   
\n\u6709\u4e2a\u5c0fWarning,\u6682\u65f6\u4e0d\u6e05\u695a\u539f\u56e0\u3002<\/p>\n
play with docker\u7f51\u7ad9 \u5728\u7ebf\u8fd0\u884cdocker\u955c\u50cf 
\nhttps:\/\/labs.play-with-docker.com\/<\/a><\/p>\n
Docker\u547d\u4ee4\u5c0f\u8ba1\n<\/h2>
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span>5\n<\/span><\/code><\/pre><\/td>\n
\n
docker images        #\u67e5\u770b\u5b89\u88c5\u7684\u955c\u50cf\n<\/span><\/span>docker image ls      #\u67e5\u770b\u5b89\u88c5\u7684\u955c\u50cf\n<\/span><\/span>docker run \u955c\u50cf\u540d\u79f0   #\u8fd0\u884c\u7a0b\u5e8f\n<\/span><\/span>\n<\/span><\/span>docker pull xxx   #\u83b7\u53d6\u955c\u50cf\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
DockerDesktop\u7684\u4f7f\u7528\n<\/h2>
DockerDesktop\u96c6\u6210\u4e86\u5bb9\u5668\u65e5\u5e38\u4f7f\u7528\u4e0e\u7ba1\u7406\u7684\u5404\u79cd\u5e38\u7528\u529f\u80fd<\/p>\n
Docker Compose\n<\/h2>
\u7edf\u7b79\u5404\u4e2a\u5bb9\u5668\uff0c\u5f62\u6210\u4e00\u4e2a\u9879\u76ee\u3002 
\n\u4f7f\u7528\u4e00\u4e2ayml\u6587\u4ef6\u5b9a\u4e49\uff0c\u4f7f\u7528\u4e00\u6761\u547d\u4ee4\u6765\u81ea\u52a8\u5b89\u88c5\u5404\u79cd\u4f9d\u8d56\u4ee5\u53ca\u914d\u7f6e\u73af\u5883\u3002\u7136\u540e\u5728\u672c\u5730\u8fd0\u884c\u9879\u76ee\u3002<\/p>\n
\n
\n
1\n<\/span><\/code><\/pre><\/td>\n
\n
$ docker compose up\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
Docker\u90e8\u7f72\u6df1\u5ea6\u5b66\u4e60\u9879\u76ee\u5b9e\u4f8b\n<\/h2>
\u5148\u9e3d\u4e86<\/p>\n
Docker\u90e8\u7f72PX4\u5f00\u53d1\u73af\u5883\u5b9e\u4f8b\n<\/h2>
Docker\u7684PX4\u5bb9\u5668\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/github.com\/PX4\/PX4-containers<\/p>\n
1 \u514b\u9686\u9879\u76ee\u5230\u672c\u5730\n<\/h4>
2 \u6267\u884c\n<\/h4>
\n
\n
1\n<\/span>2\n<\/span><\/code><\/pre><\/td>\n
\n
cd docker\n<\/span><\/span>docker build -t px4io\/px4-dev-ros-melodic -f Dockerfile_ros-melodic .\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u6784\u5efa\u5b8c\u6210\u955c\u50cf\u5927\u5c0f\u4e3a6.5GB\u5de6\u53f3<\/p>\n
3 \u6784\u5efaFirmware\u65f6\u4f7f\u7528Docker\u73af\u5883\uff1f\n<\/h4>
 
\n3\u8fd9\u4e2a\u8fd8\u6ca1\u8bd5\u8fc7<\/p>\n"},{"title":"CNN\u795e\u7ecf\u7f51-\u81ea\u7528","link":"https:\/\/a233a2.github.io\/p\/cnn%E7%A5%9E%E7%BB%8F%E7%BD%91-%E8%87%AA%E7%94%A8\/","pubDate":"Wed, 13 Nov 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/cnn%E7%A5%9E%E7%BB%8F%E7%BD%91-%E8%87%AA%E7%94%A8\/","description":"
\u57fa\u7840\n<\/h2>
\u4e24\u5c42\u795e\u7ecf\u7f51\u7edc\u5206\u6790\u4e3a\u4f8b\n<\/h3>
\u6458\u81eazhihu\uff1a\u795e\u7ecf\u7f51\u7edc15\u5206\u949f\u5165\u95e8\uff01\u8db3\u591f\u901a\u4fd7\u6613\u61c2\u4e86\u5427<\/a>    
\n 
\n\u4efb\u52a1\u63cf\u8ff0\uff1a\u5728\u5750\u6807\u7cfb\u4e2d\uff0c\u7ed9\u51fa\u4e00\u4e2a\u5750\u6807\u7cfb\uff0c\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u8fdb\u884c\u5206\u7c7b\u8c61\u9650\u3002<\/p>\n
\u8f93\u5165\u5c42\n<\/h4>
\u5728\u6211\u4eec\u7684\u4f8b\u5b50\u4e2d\uff0c\u8f93\u5165\u5c42\u662f\u5750\u6807\u503c\uff0c\u4f8b\u5982\uff081,1\uff09\uff0c\u8fd9\u662f\u4e00\u4e2a\u5305\u542b\u4e24\u4e2a\u5143\u7d20\u7684\u6570\u7ec4\uff0c\n\u4e5f\u53ef\u4ee5\u770b\u4f5c\u662f\u4e00\u4e2a12\u7684\u77e9\u9635\u3002\u8f93\u5165\u5c42\u7684\u5143\u7d20\u7ef4\u5ea6\u4e0e\u8f93\u5165\u91cf\u7684\u7279\u5f81\u606f\u606f\u76f8\u5173\uff0c\u5982\u679c\u8f93\n\u5165\u7684\u662f\u4e00\u5f2032<\/em>32\u50cf\u7d20\u7684\u7070\u5ea6\u56fe\u50cf\uff0c\u90a3\u4e48\u8f93\u5165\u5c42\u7684\u7ef4\u5ea6\u5c31\u662f32*32\u3002<\/p>\n
\u8f93\u5165\u5c42\u5230\u9690\u85cf\u5c42\n<\/h4>
\u8fde\u63a5\u8f93\u5165\u5c42\u548c\u9690\u85cf\u5c42\u7684\u662fW1\u548cb1\u3002\u7531X\u8ba1\u7b97\u5f97\u5230H\u5341\u5206\u7b80\u5355\uff0c\u5c31\u662f\u77e9\u9635\u8fd0\u7b97\uff1a 
\n$$ H=XW1+b1 $$ 
\n\u5982\u4e0a\u56fe\u4e2d\u6240\u793a\uff0c\u5728\u8bbe\u5b9a\u9690\u85cf\u5c42\u4e3a50\u7ef4\uff08\u4e5f\u53ef\u4ee5\u7406\u89e3\u621050\u4e2a\u795e\u7ecf\u5143\uff09\u4e4b\u540e\uff0c\u77e9\u9635H\u7684\u5927\u5c0f\u4e3a\uff081<\/em>50\uff09\u7684\u77e9\u9635\u3002<\/p>\n
\u9690\u85cf\u5c42\u5230\u8f93\u51fa\u5c42\n<\/h4>
\u8fde\u63a5\u9690\u85cf\u5c42\u548c\u8f93\u51fa\u5c42\u7684\u662fW2\u548cb2\u3002\u540c\u6837\u662f\u901a\u8fc7\u77e9\u9635\u8fd0\u7b97\u8fdb\u884c\u7684\uff1a 
\n$$ Y=H*W2+b2 $$ 
\n\u901a\u8fc7\u4e0a\u8ff0\u4e24\u4e2a\u7ebf\u6027\u65b9\u7a0b\u7684\u8ba1\u7b97\uff0c\u6211\u4eec\u5c31\u80fd\u5f97\u5230\u6700\u7ec8\u7684\u8f93\u51faY\u4e86\uff0c\u4f46\u662f\u5982\u679c\u4f60\u8fd8\u5bf9\u7ebf\u6027\u4ee3\u6570\u7684\u8ba1\u7b97\u6709\u5370\u8c61\u7684\u8bdd\uff0c\u5e94\u8be5\u4f1a\u77e5\u9053\uff1a\u4e00\u7cfb\u5217\u7ebf\u6027\u65b9\u7a0b\u7684\u8fd0\u7b97\u6700\u7ec8\u90fd\u53ef\u4ee5\u7528\u4e00\u4e2a\u7ebf\u6027\u65b9\u7a0b\u8868\u793a\u3002\u4e5f\u5c31\u662f\u8bf4\uff0c\u4e0a\u8ff0\u4e24\u4e2a\u5f0f\u5b50\u8054\u7acb\u540e\u53ef\u4ee5\u7528\u4e00\u4e2a\u7ebf\u6027\u65b9\u7a0b\u8868\u8fbe\u3002\u5bf9\u4e8e\u4e24\u6b21\u795e\u7ecf\u7f51\u7edc\u662f\u8fd9\u6837\uff0c\u5c31\u7b97\u7f51\u7edc\u6df1\u5ea6\u52a0\u5230100\u5c42\uff0c\u4e5f\u4f9d\u7136\u662f\u8fd9\u6837\u3002\u8fd9\u6837\u7684\u8bdd\u795e\u7ecf\u7f51\u7edc\u5c31\u5931\u53bb\u4e86\u610f\u4e49\u3002<\/p>\n
\u6fc0\u6d3b\u5c42\n<\/h4>
\u795e\u7ecf\u7f51\u7edc\u4e2d\u7684\u6fc0\u6d3b\u5c42\uff08Activation Layer\uff09\u4e3b\u8981\u8d1f\u8d23\u4e3a\u7f51\u7edc\u4e2d\u7684\u6bcf\u4e00\u5c42\u795e\u7ecf\u5143\u5f15\u5165\u975e\u7ebf\u6027\u56e0\u7d20\u3002\u6ca1\u6709\u6fc0\u6d3b\u51fd\u6570\uff0c\u795e\u7ecf\u7f51\u7edc\u5c31\u53ea\u80fd\u6267\u884c\u7ebf\u6027\u53d8\u6362\uff0c\u800c\u7ebf\u6027\u53d8\u6362\u65e0\u6cd5\u8868\u8fbe\u590d\u6742\u7684\u6a21\u5f0f\u548c\u7279\u5f81\u3002\u56e0\u6b64\uff0c\u6fc0\u6d3b\u51fd\u6570\u662f\u795e\u7ecf\u7f51\u7edc\u80fd\u591f\u5904\u7406\u975e\u7ebf\u6027\u95ee\u9898\u3001\u8fdb\u884c\u66f4\u590d\u6742\u8ba1\u7b97\u7684\u5173\u952e\u3002<\/strong><\/p>\n
\u7b80\u800c\u8a00\u4e4b\uff0c\u6fc0\u6d3b\u5c42\u662f\u4e3a\u77e9\u9635\u8fd0\u7b97\u7684\u7ed3\u679c\u6dfb\u52a0\u975e\u7ebf\u6027\u7684\u3002\u5e38\u7528\u7684\u6fc0\u6d3b\u51fd\u6570\u6709\u4e09\u79cd\uff0c\u5206\u522b\u662f\u9636\u8dc3\u51fd\u6570\u3001Sigmoid\u548cReLU\u3002  
\n 
\n\u5176\u4e2d\uff0c\u9636\u8dc3\u51fd\u6570\u8f93\u51fa\u503c\u662f\u8df3\u53d8\u7684\uff0c\u4e14\u53ea\u6709\u4e8c\u503c\uff0c\u8f83\u5c11\u4f7f\u7528\uff1bSigmoid\u51fd\u6570\u5728\u5f53x\u7684\u7edd\u5bf9\u503c\u8f83\u5927\u65f6\uff0c\u66f2\u7ebf\u7684\u659c\u7387\u53d8\u5316\u5f88\u5c0f\uff08\u68af\u5ea6\u6d88\u5931\uff09\uff0c\u5e76\u4e14\u8ba1\u7b97\u8f83\u590d\u6742\uff1bReLU\u662f\u5f53\u524d\u8f83\u4e3a\u5e38\u7528\u7684\u6fc0\u6d3b\u51fd\u6570\u3002  
\n\u6fc0\u6d3b\u51fd\u6570\u5177\u4f53\u662f\u600e\u4e48\u8ba1\u7b97\u7684\u5462\uff1f 
\n\u5047\u5982\u7ecf\u8fc7\u516c\u5f0fH=X*W1+b1\u8ba1\u7b97\u5f97\u5230\u7684H\u503c\u4e3a\uff1a(1,-2,3,-4,7…)\uff0c\u90a3\u4e48\u7ecf\u8fc7\u9636\u8dc3\u51fd\u6570\u6fc0\u6d3b\u5c42\u540e\u5c31\u4f1a\u53d8\u4e3a(1,0,1,0,1…)\uff0c\u7ecf\u8fc7ReLU\u6fc0\u6d3b\u5c42\u4e4b\u540e\u4f1a\u53d8\u4e3a(1,0,3,0,7…)\u3002 
\n\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u6bcf\u4e2a\u9690\u85cf\u5c42\u8ba1\u7b97\uff08\u77e9\u9635\u7ebf\u6027\u8fd0\u7b97\uff09\u4e4b\u540e\uff0c\u90fd\u9700\u8981\u52a0\u4e00\u5c42\u6fc0\u6d3b\u5c42\uff0c\u8981\u4e0d\u7136\u8be5\u5c42\u7ebf\u6027\u8ba1\u7b97\u662f\u6ca1\u6709\u610f\u4e49\u7684\u3002<\/strong>   
\n\u795e\u7ecf\u7f51\u7edc\u4e4b\u6240\u4ee5\u80fd\u591f\u5904\u7406\u590d\u6742\u7684\u4efb\u52a1\uff0c\u6b63\u662f\u56e0\u4e3a\u975e\u7ebf\u6027\u6fc0\u6d3b\u51fd\u6570\u7684\u5b58\u5728\u3002\u6fc0\u6d3b\u51fd\u6570\u5c06\u7ebf\u6027\u53d8\u6362\u7684\u8f93\u51fa\u201c\u626d\u66f2\u201d\u6210\u975e\u7ebf\u6027\uff0c\u4ece\u800c\u8ba9\u7f51\u7edc\u80fd\u591f\u6355\u6349\u6570\u636e\u4e2d\u7684\u975e\u7ebf\u6027\u5173\u7cfb\uff0c\u4f8b\u5982\u5728\u56fe\u50cf\u3001\u8bed\u97f3\u3001\u6587\u672c\u7b49\u590d\u6742\u573a\u666f\u4e2d\u3002<\/p>\n
\u8f93\u51fa\u7684\u6b63\u89c4\u5316\n<\/h4>
\u73b0\u5728\u6211\u4eec\u7684\u8f93\u51faY\u7684\u503c\u53ef\u80fd\u4f1a\u662f(3,1,0.1,0.5)\u8fd9\u6837\u7684\u77e9\u9635\uff0c\u8bda\u7136\u6211\u4eec\u53ef\u4ee5\u627e\u5230\u91cc\u8fb9\u7684\u6700\u5927\u503c\u201c3\u201d\uff0c\u4ece\u800c\u627e\u5230\u5bf9\u5e94\u7684\u5206\u7c7b\u4e3aI\uff0c\u4f46\u662f\u8fd9\u5e76\u4e0d\u76f4\u89c2\u3002\u6211\u4eec\u60f3\u8ba9\u6700\u7ec8\u7684\u8f93\u51fa\u4e3a\u6982\u7387\uff0c\u4e5f\u5c31\u662f\u8bf4\u53ef\u4ee5\u751f\u6210\u50cf(90%,5%,2%,3%)\u8fd9\u6837\u7684\u7ed3\u679c\uff0c\u8fd9\u6837\u505a\u4e0d\u4ec5\u53ef\u4ee5\u627e\u5230\u6700\u5927\u6982\u7387\u7684\u5206\u7c7b\uff0c\u800c\u4e14\u53ef\u4ee5\u77e5\u9053\u5404\u4e2a\u5206\u7c7b\u8ba1\u7b97\u7684\u6982\u7387\u503c\u3002<\/p>\n
Softmax\u6b63\u89c4\u5316\n<\/h5>
$$ S_i=\\frac{e^i}{\\sum{_je^j}} $$ 
\n\u7b80\u5355\u6765\u8bf4\u5206\u4e09\u6b65\u8fdb\u884c\uff1a\uff081\uff09\u4ee5e\u4e3a\u5e95\u5bf9\u6240\u6709\u5143\u7d20\u6c42\u6307\u6570\u5e42\uff1b\uff082\uff09\u5c06\u6240\u6709\u6307\u6570\u5e42\u6c42\u548c\uff1b\uff083\uff09\u5206\u522b\u5c06\u8fd9\u4e9b\u6307\u6570\u5e42\u4e0e\u8be5\u548c\u505a\u5546\u3002\u8fd9\u6837\u6c42\u51fa\u7684\u7ed3\u679c\u4e2d\uff0c\u6240\u6709\u5143\u7d20\u7684\u548c\u4e00\u5b9a\u4e3a1\uff0c\u800c\u6bcf\u4e2a\u5143\u7d20\u53ef\u4ee5\u4ee3\u8868\u6982\u7387\u503c\u3002  
\n\u6211\u4eec\u5c06\u4f7f\u7528\u8fd9\u4e2a\u8ba1\u7b97\u516c\u5f0f\u505a\u8f93\u51fa\u7ed3\u679c\u6b63\u89c4\u5316\u5904\u7406\u7684\u5c42\u53eb\u505a\u201cSoftmax\u201d\u5c42\u3002\u6b64\u65f6\u7684\u795e\u7ecf\u7f51\u7edc\u5c06\u53d8\u6210\u5982\u4e0a\u56fe\u6240\u793a\uff1a<\/p>\n
\u8861\u91cf\u8f93\u51fa\u7684\u597d\u574f\n<\/h4>
\u901a\u8fc7Softmax\u5c42\u4e4b\u540e\uff0c\u6211\u4eec\u5f97\u5230\u4e86I\uff0cII\uff0cIII\u548cIV\u8fd9\u56db\u4e2a\u7c7b\u522b\u5206\u522b\u5bf9\u5e94\u7684\u6982\u7387\uff0c\u4f46\u662f\u8981\u6ce8\u610f\uff0c\u8fd9\u662f\u795e\u7ecf\u7f51\u7edc\u8ba1\u7b97\u5f97\u5230\u7684\u6982\u7387\u503c\u7ed3\u679c\uff0c\u800c\u975e\u771f\u5b9e\u7684\u60c5\u51b5\u3002<\/p>\n
\u6bd4\u5982\uff0cSoftmax\u8f93\u51fa\u7684\u7ed3\u679c\u662f(90%,5%,3%,2%)\uff0c\u771f\u5b9e\u7684\u7ed3\u679c\u662f(100%,0,0,0)\u3002\u867d\u7136\u8f93\u51fa\u7684\u7ed3\u679c\u53ef\u4ee5\u6b63\u786e\u5206\u7c7b\uff0c\u4f46\u662f\u4e0e\u771f\u5b9e\u7ed3\u679c\u4e4b\u95f4\u662f\u6709\u5dee\u8ddd\u7684\uff0c\u4e00\u4e2a\u4f18\u79c0\u7684\u7f51\u7edc\u5bf9\u7ed3\u679c\u7684\u9884\u6d4b\u8981\u65e0\u9650\u63a5\u8fd1\u4e8e100%\uff0c\u4e3a\u6b64\uff0c\u6211\u4eec\u9700\u8981\u5c06Softmax\u8f93\u51fa\u7ed3\u679c\u7684\u597d\u574f\u7a0b\u5ea6\u505a\u4e00\u4e2a\u201c\u91cf\u5316\u201d\u3002  
\n\u4e00\u79cd\u76f4\u89c2\u7684\u89e3\u51b3\u65b9\u6cd5\uff0c\u662f\u75281\u51cf\u53bbSoftmax\u8f93\u51fa\u7684\u6982\u7387\uff0c\u6bd4\u59821-90%=0.1\u3002\u4e0d\u8fc7\u66f4\u4e3a\u5e38\u7528\u4e14\u5de7\u5999\u7684\u65b9\u6cd5\u662f\uff0c\u6c42\u5bf9\u6570\u7684\u8d1f\u6570\u3002   
\n\u8fd8\u662f\u752890%\u4e3e\u4f8b\uff0c\u5bf9\u6570\u7684\u8d1f\u6570\u5c31\u662f\uff1a-log0.9=0.046  
\n\u53ef\u4ee5\u60f3\u89c1\uff0c\u6982\u7387\u8d8a\u63a5\u8fd1100%\uff0c\u8be5\u8ba1\u7b97\u7ed3\u679c\u503c\u8d8a\u63a5\u8fd1\u4e8e0\uff0c\u8bf4\u660e\u7ed3\u679c\u8d8a\u51c6\u786e\uff0c\u8be5\u8f93\u51fa\u53eb\u505a\u201c\u4ea4\u53c9\u71b5\u635f\u5931\uff08Cross Entropy Error\uff09\u201d\u3002<\/strong>     
\n\u6211\u4eec\u8bad\u7ec3\u795e\u7ecf\u7f51\u7edc\u7684\u76ee\u7684\uff0c\u5c31\u662f\u5c3d\u53ef\u80fd\u5730\u51cf\u5c11\u8fd9\u4e2a\u201c\u4ea4\u53c9\u71b5\u635f\u5931\u201d\u3002  
\n<\/p>\n
\u53cd\u5411\u4f20\u64ad\u4e0e\u53c2\u6570\u4f18\u5316\n<\/h4>
\u4e0a\u8fb9\u76841~4\u8282\uff0c\u8bb2\u8ff0\u4e86\u795e\u7ecf\u7f51\u7edc\u7684\u6b63\u5411\u4f20\u64ad\u8fc7\u7a0b\u3002\u4e00\u53e5\u8bdd\u590d\u4e60\u4e00\u4e0b\uff1a\u795e\u7ecf\u7f51\u7edc\u7684\u4f20\u64ad\u90fd\u662f\u5f62\u5982Y=WX+b\u7684\u77e9\u9635\u8fd0\u7b97\uff1b\u4e3a\u4e86\u7ed9\u77e9\u9635\u8fd0\u7b97\u52a0\u5165\u975e\u7ebf\u6027\uff0c\u9700\u8981\u5728\u9690\u85cf\u5c42\u4e2d\u52a0\u5165\u6fc0\u6d3b\u5c42\uff1b\u8f93\u51fa\u5c42\u7ed3\u679c\u9700\u8981\u7ecf\u8fc7Softmax\u5c42\u5904\u7406\u4e3a\u6982\u7387\u503c\uff0c\u5e76\u901a\u8fc7\u4ea4\u53c9\u71b5\u635f\u5931\u6765\u91cf\u5316\u5f53\u524d\u7f51\u7edc\u7684\u4f18\u52a3\u3002 
\n\u7b97\u51fa\u4ea4\u53c9\u71b5\u635f\u5931\u540e\uff0c\u5c31\u8981\u5f00\u59cb\u53cd\u5411\u4f20\u64ad\u4e86\u3002\u5176\u5b9e\u53cd\u5411\u4f20\u64ad\u5c31\u662f\u4e00\u4e2a\u53c2\u6570\u4f18\u5316\u7684\u8fc7\u7a0b\uff0c\u4f18\u5316\u5bf9\u8c61\u5c31\u662f\u7f51\u7edc\u4e2d\u7684\u6240\u6709W\u548cb\uff08\u56e0\u4e3a\u5176\u4ed6\u6240\u6709\u53c2\u6570\u90fd\u662f\u786e\u5b9a\u7684\uff09\u3002 
\n\u795e\u7ecf\u7f51\u7edc\u7684\u795e\u5947\u4e4b\u5904\uff0c\u5c31\u5728\u4e8e\u5b83\u53ef\u4ee5\u81ea\u52a8\u505aW\u548cb\u7684\u4f18\u5316\uff0c\u5728\u6df1\u5ea6\u5b66\u4e60\u4e2d\uff0c\u53c2\u6570\u7684\u6570\u91cf\u6709\u65f6\u4f1a\u4e0a\u4ebf\uff0c\u4e0d\u8fc7\u5176\u4f18\u5316\u7684\u539f\u7406\u548c\u6211\u4eec\u8fd9\u4e2a\u4e24\u5c42\u795e\u7ecf\u7f51\u7edc\u662f\u4e00\u6837\u7684\u3002<\/p>\n
\u8fed\u4ee3\n<\/h4>
\u795e\u7ecf\u7f51\u7edc\u9700\u8981\u53cd\u590d\u8fed\u4ee3\u3002 
\n\u5982\u4e0a\u8ff0\u4f8b\u5b50\u4e2d\uff0c\u7b2c\u4e00\u6b21\u8ba1\u7b97\u5f97\u5230\u7684\u6982\u7387\u662f90%\uff0c\u4ea4\u53c9\u71b5\u635f\u5931\u503c\u662f0.046\uff1b\u5c06\u8be5\u635f\u5931\u503c\u53cd\u5411\u4f20\u64ad\uff0c\u4f7fW1,b1,W2,b2\u505a\u76f8\u5e94\u5fae\u8c03\uff1b\u518d\u505a\u7b2c\u4e8c\u6b21\u8fd0\u7b97\uff0c\u6b64\u65f6\u7684\u6982\u7387\u53ef\u80fd\u5c31\u4f1a\u63d0\u9ad8\u523092%\uff0c\u76f8\u5e94\u5730\uff0c\u635f\u5931\u503c\u4e5f\u4f1a\u4e0b\u964d\uff0c\u7136\u540e\u518d\u53cd\u5411\u4f20\u64ad\u635f\u5931\u503c\uff0c\u5fae\u8c03\u53c2\u6570W1,b1,W2,b2\u3002\u4f9d\u6b21\u7c7b\u63a8\uff0c\u635f\u5931\u503c\u8d8a\u6765\u8d8a\u5c0f\uff0c\u76f4\u5230\u6211\u4eec\u6ee1\u610f\u4e3a\u6b62\u3002 
\n\u6b64\u65f6\u6211\u4eec\u5c31\u5f97\u5230\u4e86\u7406\u60f3\u7684W1,b1,W2,b2\u3002 
\n\u6b64\u65f6\u5982\u679c\u5c06\u4efb\u610f\u4e00\u7ec4\u5750\u6807\u4f5c\u4e3a\u8f93\u5165\uff0c\u5229\u7528\u56fe4\u6216\u56fe5\u7684\u6d41\u7a0b\uff0c\u5c31\u80fd\u5f97\u5230\u5206\u7c7b\u7ed3\u679c\u3002<\/p>\n
\u5404\u7c7b\u578b\u795e\u7ecf\u7f51\u7edc\n<\/h2>
CNN\u5377\u79ef\u795e\u7ecf\u7f51\u7edc30\u5206\u949f\u5165\u95e8\n<\/h3>
\u6458\u81ea\uff1a\u3010\u6df1\u5ea6\u5b66\u4e60-\u7b2c2\u7bc7\u3011CNN\u5377\u79ef\u795e\u7ecf\u7f51\u7edc30\u5206\u949f\u5165\u95e8\uff01\u8db3\u591f\u901a\u4fd7\u6613\u61c2\u4e86\u5427\uff08\u56fe\u89e3\uff09<\/a><\/p>\n
\u4ece\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u5230CNN\n<\/h4>
\u524d\u9988\u795e\u7ecf\u7f51\u7edc\uff08Feedforward Neural Networks\uff09\u662f\u6700\u57fa\u7840\u7684\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\uff0c\u4e5f\u88ab\u79f0\u4e3a<\/strong>\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u3002<\/strong><\/p>\n
\u5b83\u7531\u591a\u4e2a\u795e\u7ecf\u5143\u7ec4\u6210\uff0c\u6bcf\u4e2a\u795e\u7ecf\u5143\u4e0e\u524d\u4e00\u5c42\u7684\u6240\u6709\u795e\u7ecf\u5143\u76f8\u8fde\uff0c\u5f62\u6210\u4e00\u4e2a\u201c\u5168\u8fde\u63a5\u201d\u7684\u7ed3\u6784\u3002\u6bcf\u4e2a\u795e\u7ecf\u5143\u4f1a\u5bf9\u5176\u8f93\u5165\u6570\u636e\u8fdb\u884c\u7ebf\u6027\u53d8\u6362\uff08\u901a\u8fc7\u6743\u91cd\u77e9\u9635\uff09\uff0c\u7136\u540e\u901a\u8fc7\u4e00\u4e2a\u975e\u7ebf\u6027\u51fd\u6570\uff08\u5982ReLU\u6216Sigmoid\uff09\u8fdb\u884c\u6fc0\u6d3b\u3002\u8fd9\u5c31\u662f\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u7684\u57fa\u672c\u64cd\u4f5c\u3002 
\n<\/p>\n
\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08Convolutional Neural Network, \u7b80\u79f0CNN\uff09\u5f00\u59cb\u3002\u5f88\u5927\u7a0b\u5ea6\u4e0a\uff0c\u662f\u7531\u4e8eCNN\u7684\u57fa\u672c\u7ec4\u6210\u90e8\u5206\u4e0e\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u6709\u5f88\u7d27\u5bc6\u7684\u5173\u8054\uff0c\u751a\u81f3\u53ef\u4ee5\u8bf4\uff0cCNN\u5c31\u662f\u4e00\u79cd\u7279\u6b8a\u7684\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u3002 
\n\u8fd9\u4e24\u8005\u7684\u4e3b\u8981\u533a\u522b\u5728\u4e8e\uff0cCNN\u5728\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u7684\u57fa\u7840\u4e0a\u52a0\u5165\u4e86\u5377\u79ef\u5c42<\/strong>\u548c\u6c60\u5316\u5c42<\/strong>\uff08\u4e0b\u8fb9\u4f1a\u8bb2\u5230\uff09\uff0c\u4ee5\u4fbf\u66f4\u597d\u5730\u5904\u7406\u56fe\u50cf\u7b49\u5177\u6709\u7a7a\u95f4\u7ed3\u6784\u7684\u6570\u636e\u3002<\/strong><\/p>\n
\u73b0\u5728\u753b\u56fe\u8bf4\u660e\u4e00\u4e0b\u3002\u5bf9\u4e8e\u524d\u9988\u795e\u7ecf\u7f51\u7edc\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06\u7b80\u5316\u540e\u7684\u7f51\u7edc\u7ed3\u6784\u5982\u4e0b\u56fe\u8868\u793a\uff1a 
\n    
\n\u5f53\u7136\uff0c\u3010\u5168\u8fde\u63a5\u5c42-ReLU\u3011\u53ef\u4ee5\u6709\u591a\u4e2a\uff0c\u6b64\u65f6\u7f51\u7edc\u7ed3\u6784\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a 
\n    
\n\u7b80\u5355\u5730\u8bf4\uff0cCNN\u5c31\u662f\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u5c06\u5168\u8fde\u63a5\u5c42\u6362\u6210\u5377\u79ef\u5c42\uff0c\u5e76\u5728ReLU\u5c42\u4e4b\u540e\u52a0\u5165\u6c60\u5316\u5c42\uff08\u975e\u5fc5\u987b\uff09\uff0c\u90a3\u4e48\u4e00\u4e2a\u57fa\u672c\u7684CNN\u7ed3\u6784\u5c31\u53ef\u4ee5\u8868\u793a\u6210\u8fd9\u6837\uff1a 
\n<\/p>\n
\u5377\u79ef\u5c42\n<\/h4>
\u4f7f\u7528\u5377\u79ef\u662f\u4e3a\u4e86\u66f4\u597d\u7684\u5904\u7406\u56fe\u50cf\u7b49\u4fe1\u606f\u3002\u82e5\u4f7f\u7528\u5168\u8fde\u63a5\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u6765\u5904\u7406\u56fe\u50cf\uff0c\u4f1a\u4f7f\u5f97\u53c2\u6570\u592a\u591a\u3001\u4e0d\u5229\u4e8e\u8868\u8fbe\u7a7a\u95f4\u4e0a\u7684\u7ed3\u6784\u3002\u53e6\u5916\u96be\u4ee5\u53cd\u5e94\u5e73\u79fb\u4e0d\u53d8\u6027\u3002CNN\u7531\u4e8e\u6743\u91cd\u5171\u4eab\uff0c\u53ef\u4ee5\u65e0\u8bba\u7279\u5f81\u5728\u4f55\u5904\u51fa\u73b0\u90fd\u80fd\u88ab\u68c0\u6d4b\u5230\uff0c\u4ece\u800c\u63d0\u4f9b\u4e86\u4e00\u79cd\u5e73\u79fb\u4e0d\u53d8\u6027\u3002\u53e6\u5916\u96be\u4ee5\u8868\u5f81\u62bd\u8c61\u5c42\u7ea7\u3002CNN\u901a\u8fc7\u591a\u4e2a\u5377\u79ef\u5c42\u548c\u6c60\u5316\u5c42\u7684\u53e0\u52a0\uff0c\u53ef\u4ee5\u4ece\u4f4e\u7ea7\u7684\u8fb9\u7f18\u548c\u7eb9\u7406\u7279\u5f81\u9010\u6e10\u62bd\u53d6\u51fa\u9ad8\u7ea7\u7684\u8bed\u4e49\u7279\u5f81\u3002\u8fd9\u4e2a\u7279\u6027\u4f7f\u5f97CNN\u975e\u5e38\u9002\u5408\u4e8e\u5904\u7406\u56fe\u50cf\u7b49\u9700\u8981\u591a\u5c42\u62bd\u8c61\u8868\u793a\u7684\u6570\u636e\u3002  
\n\u5377\u79ef\u7684\u8fc7\u7a0b\uff0c\u5176\u5b9e\u662f\u4e00\u79cd\u6ee4\u6ce2\u7684\u8fc7\u7a0b\uff0c\u6240\u4ee5\u5377\u79ef\u6838\uff08Convolution Kernel\uff09\u8fd8\u6709\u4e00\u4e2a\u522b\u540d\u53eb\u505aFilter\uff0c\u4e5f\u5c31\u662f\u6ee4\u6ce2\u5668\u3002     
\n\u5f53\u4e00\u7ec4\u6570\u50cf\u6ed1\u7a97\u4e00\u6837\u6ed1\u8fc7\u53e6\u5916\u4e00\u7ec4\u6570\u65f6\uff0c\u5c06\u5bf9\u5e94\u7684\u6570\u636e\u76f8\u4e58\u5e76\u6c42\u548c\u5f97\u5230\u4e00\u7ec4\u65b0\u7684\u6570\uff0c\u8fd9\u4e2a\u8fc7\u7a0b\u5fc5\u7136\u548c\u5377\u79ef\u6709\u7740\u83ab\u5927\u7684\u5173\u7cfb\u3002<\/strong> 
\n\u5176\u4e2d\u6743\u91cd\u7cfb\u6570\u90fd\u4e3a1\/3\uff0c\u4e5f\u5c31\u662f\u5747\u503c\u6ee4\u6ce2\u7684\u8fc7\u7a0b\u3002\u53d8\u6362\u4e0d\u540c\u7684\u6743\u91cd\u7cfb\u6570\uff0c\u6ee4\u6ce2\u5668\u5c06\u5c55\u73b0\u51fa\u4e0d\u540c\u7684\u6ee4\u6ce2\u7279\u6027\u3002\u6240\u4ee5\u6211\u4eec\u53c8\u53ef\u4ee5\u5f97\u5230\u4e00\u4e2a\u7ed3\u8bba\uff1a\u5f53\u6743\u91cd\u7cfb\u6570\uff08\u5377\u79ef\u6838\uff09\u7684\u53c2\u6570\u6539\u53d8\u65f6\uff0c\u5b83\u53ef\u4ee5\u63d0\u53d6\u7684\u7279\u5f81\u7c7b\u578b\u4e5f\u4f1a\u6539\u53d8\u3002\u6240\u4ee5\u8bad\u7ec3\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u65f6\uff0c\u5b9e\u8d28\u4e0a\u8bad\u7ec3\u7684\u662f\u5377\u79ef\u6838\u7684\u53c2\u6570\u3002  
\n<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span>5\n<\/span><\/code><\/pre><\/td>\n
\n
1.\u5b9a\u4e49\u4e00\u4e2a\u5377\u79ef\u6838\uff1a\u5377\u79ef\u6838\u662f\u4e00\u4e2a\u5c0f\u7684\u77e9\u9635\uff08\u4f8b\u59823x3\u62165x5\uff09\uff0c\u5305\u542b\u4e00\u4e9b\u6570\u5b57\u3002\u8fd9\u4e2a\u5377\u79ef\u6838\u7684\u4f5c\u7528\u662f\u5728\u56fe\u50cf\u4e2d\u8bc6\u522b\u7279\u5b9a\u7c7b\u578b\u7684\u7279\u5f81\uff0c\u4f8b\u5982\u8fb9\u7f18\u3001\u7ebf\u6761\u7b49\uff0c\u4e5f\u53ef\u80fd\u662f\u96be\u4ee5\u63cf\u8ff0\u7684\u62bd\u8c61\u7279\u5f81\u3002\n<\/span><\/span>2.\u5377\u79ef\u6838\u6ed1\u8fc7\u56fe\u50cf\uff1a\u5377\u79ef\u64cd\u4f5c\u5f00\u59cb\u65f6\uff0c\u5377\u79ef\u6838\u4f1a\u88ab\u653e\u7f6e\u5728\u56fe\u50cf\u7684\u5de6\u4e0a\u89d2\u3002\u7136\u540e\uff0c\u5b83\u4f1a\u6309\u7167\u4e00\u5b9a\u7684\u6b65\u957f\uff08stride\uff09\u5728\u56fe\u50cf\u4e0a\u6ed1\u52a8\uff0c\u53ef\u4ee5\u662f\u4ece\u5de6\u5230\u53f3\uff0c\u4e5f\u53ef\u4ee5\u662f\u4ece\u4e0a\u5230\u4e0b\u3002\u6b65\u957f\u5b9a\u4e49\u4e86\u5377\u79ef\u6838\u6bcf\u6b21\u79fb\u52a8\u7684\u8ddd\u79bb\u3002\n<\/span><\/span>3.\u8ba1\u7b97\u70b9\u79ef\uff1a\u5728\u5377\u79ef\u6838\u6bcf\u4e2a\u4f4d\u7f6e\uff0c\u90fd\u4f1a\u8ba1\u7b97\u5377\u79ef\u6838\u548c\u56fe\u50cf\u5bf9\u5e94\u90e8\u5206\u7684\u70b9\u79ef\u3002\u8fd9\u5c31\u662f\u5c06\u5377\u79ef\u6838\u4e2d\u7684\u6bcf\u4e2a\u5143\u7d20\u4e0e\u56fe\u50cf\u4e2d\u5bf9\u5e94\u4f4d\u7f6e\u7684\u50cf\u7d20\u503c\u76f8\u4e58\uff0c\u7136\u540e\u5c06\u6240\u6709\u4e58\u79ef\u76f8\u52a0\u3002\n<\/span><\/span>4.\u751f\u6210\u65b0\u7684\u7279\u5f81\u56fe\uff1a\u6bcf\u6b21\u8ba1\u7b97\u7684\u70b9\u79ef\u7ed3\u679c\u88ab\u7528\u6765\u6784\u5efa\u4e00\u4e2a\u65b0\u7684\u56fe\u50cf\uff0c\u4e5f\u79f0\u4e3a\u7279\u5f81\u56fe\u6216\u5377\u79ef\u56fe\u3002\n<\/span><\/span>5.\u91cd\u590d\u4ee5\u4e0a\u8fc7\u7a0b\uff1a\u901a\u5e38\u5728\u4e00\u4e2a CNN \u4e2d\uff0c\u6211\u4eec\u4f1a\u6709\u591a\u4e2a\u4e0d\u540c\u7684\u5377\u79ef\u6838\u540c\u65f6\u8fdb\u884c\u5377\u79ef\u64cd\u4f5c\u3002\u8fd9\u610f\u5473\u7740\u6211\u4eec\u4f1a\u5f97\u5230\u591a\u4e2a\u7279\u5f81\u56fe\uff0c\u6bcf\u4e2a\u7279\u5f81\u56fe\u6355\u6349\u4e86\u539f\u59cb\u56fe\u50cf\u4e2d\u7684\u4e0d\u540c\u7279\u5f81\u3002\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
ReLU\u5728CNN\u4e2d\u7684\u4f4d\u7f6e\n<\/h4>
\u5377\u79ef\u5c42\u548c\u5168\u8fde\u63a5\u4e00\u6837\uff0c\u4e5f\u662f\u4e00\u79cd\u7ebf\u6027\u53d8\u6362\uff0c\u65e0\u8bba\u8fdb\u884c\u591a\u5c11\u6b21\u8fd9\u6837\u7684\u64cd\u4f5c\uff0c\u90fd\u53ea\u80fd\u83b7\u5f97\u8f93\u5165\u6570\u636e\u7684\u7ebf\u6027\u7ec4\u5408\u3002\u5982\u679c\u6ca1\u6709\u975e\u7ebf\u6027\u7684\u6fc0\u6d3b\u51fd\u6570\uff0c\u90a3\u4e48\u5373\u4f7f\u662f\u591a\u5c42\u7684\u795e\u7ecf\u7f51\u7edc\uff0c\u5728\u7406\u8bba\u4e0a\u4e5f\u53ef\u4ee5\u88ab\u4e00\u4e2a\u5355\u5c42\u7684\u795e\u7ecf\u7f51\u7edc\u6240\u8868\u8fbe\uff0c\u8fd9\u6781\u5927\u5730\u9650\u5236\u4e86\u7f51\u7edc\u7684\u8868\u8fbe\u80fd\u529b\u3002<\/p>\n
\n
ReLU\u51fd\u6570\u662f\u4e00\u4e2a\u975e\u7ebf\u6027\u51fd\u6570\uff0c\u53ea\u4fdd\u7559\u6b63\u6570\u5143\u7d20\uff0c\u5c06\u8d1f\u6570\u5143\u7d20\u8bbe\u7f6e\u4e3a0\u3002\u8fd9\u79cd\u7b80\u5355\u7684\u4fee\u6b63\u7ebf\u6027\u5355\u5143\u5177\u6709\u8bb8\u591a\u4f18\u70b9\uff0c\u4f8b\u5982\uff0c\u5b83\u80fd\u591f\u7f13\u89e3\u68af\u5ea6\u6d88\u5931\u95ee\u9898\uff0c\u8ba1\u7b97\u901f\u5ea6\u5feb\uff0c\u540c\u65f6ReLU\u7684\u8f93\u51fa\u662f\u7a00\u758f\u7684\uff0c\u8fd9\u6709\u52a9\u4e8e\u6a21\u578b\u7684\u6b63\u5219\u5316\u3002ReLU\u7684\u54cd\u5e94\u51fd\u6570\u56fe\u50cf\u5982\u4e0b\uff1a 
\n<\/p>\n<\/blockquote>\n
\u5316\u7e41\u4e3a\u7b80\u7684\u6c60\u5316\u5c42\n<\/h4>
ReLU\u6fc0\u6d3b\u5c42\u4e4b\u540e\u5c31\u662f\u6c60\u5316\u5c42\u3002 
\n\u6c60\u5316\u5c42\u7684\u4e3b\u8981\u4f5c\u7528\u662f\u5bf9\u975e\u7ebf\u6027\u6fc0\u6d3b\u540e\u7684\u7ed3\u679c\u8fdb\u884c\u964d\u91c7\u6837\uff0c\u4ee5\u51cf\u5c11\u53c2\u6570\u7684\u6570\u91cf\uff0c\u907f\u514d\u8fc7\u62df\u5408\uff0c\u5e76\u63d0\u9ad8\u6a21\u578b\u7684\u5904\u7406\u901f\u5ea6\u3002 
\n\u6c60\u5316\u5c42\u4e3b\u8981\u91c7\u7528\u6700\u5927\u6c60\u5316\uff08Max Pooling\uff09\u3001\u5e73\u5747\u6c60\u5316\uff08Average Pooling\uff09\u7b49\u65b9\u5f0f\uff0c\u5bf9\u7279\u5f81\u56fe\u8fdb\u884c\u64cd\u4f5c\u3002\u4ee5\u6700\u5e38\u89c1\u7684\u6700\u5927\u6c60\u5316\u4e3a\u4f8b\uff0c\u6211\u4eec\u9009\u62e9\u4e00\u4e2a\u7a97\u53e3\uff08\u6bd4\u5982 2x2\uff09\u5728\u7279\u5f81\u56fe\u4e0a\u6ed1\u52a8\uff0c\u6bcf\u6b21\u9009\u53d6\u7a97\u53e3\u4e2d\u7684\u6700\u5927\u503c\u4f5c\u4e3a\u8f93\u51fa\uff0c\u8fd9\u5c31\u662f\u6700\u5927\u6c60\u5316\u7684\u5de5\u4f5c\u65b9\u5f0f\uff1a 
\n
\n\u5927\u81f4\u53ef\u4ee5\u770b\u51fa\uff0c\u7ecf\u8fc7\u6c60\u5316\u8ba1\u7b97\u540e\u7684\u56fe\u50cf\uff0c\u57fa\u672c\u5c31\u662f\u5de6\u4fa7\u7279\u5f81\u56fe\u7684\u201c\u4f4e\u50cf\u7d20\u7248\u201d\u7ed3\u679c\u3002\u4e5f\u5c31\u662f\u8bf4\u6c60\u5316\u8fd0\u7b97\u80fd\u591f\u4fdd\u7559\u6700\u5f3a\u70c8\u7684\u7279\u5f81\uff0c\u5e76\u5927\u5927\u964d\u4f4e\u6570\u636e\u4f53\u91cf\u3002<\/p>\n
\u5230\u73b0\u5728\uff0c\u201c\u5377\u79ef\u5c42\u2192ReLU\u2192\u6c60\u5316\u5c42\u201d\u8fd9\u6837\u4e00\u4e2aCNN\u7f51\u7edc\u4e2d\u7684\u57fa\u672c\u7ec4\u6210\u5355\u5143\u7684\u57fa\u7840\u6982\u5ff5\u5c31\u8bb2\u5b8c\u4e86\u3002\u4f46\u662f\u9700\u8981\u6ce8\u610f\uff0c\u5377\u79ef\u5c42\u3001ReLU\u548c\u6c60\u5316\u5c42\u7684\u7ec4\u5408\u662f\u4e00\u79cd\u5e38\u89c1\u6a21\u5f0f\uff0c\u4f46\u4e0d\u662f\u552f\u4e00\u7684\u65b9\u5f0f\u3002\u6bd4\u5982\u6c60\u5316\u5c42\u4f5c\u4e3a\u964d\u4f4e\u7f51\u7edc\u590d\u6742\u7a0b\u5ea6\u7684\u8ba1\u7b97\u73af\u8282\uff0c\u5728\u7b97\u529b\u786c\u4ef6\u6761\u4ef6\u8d8a\u6765\u8d8a\u597d\u7684\u5f53\u4e0b\uff0c\u6709\u4e9b\u65f6\u5019\u662f\u53ef\u4ee5\u51cf\u5c11\u91c7\u7528\u6b21\u6570\u7684\uff0c\u4e5f\u5c31\u662f\u6c60\u5316\u5c42\u53ef\u4ee5\u5728\u90e8\u5206\u5c42\u8bbe\u7f6e\u3001\u90e8\u5206\u5c42\u4e0d\u8bbe\u7f6e\u3002 
\n\"\u52a8\u753b\u6f14\u793a\"<\/p>\n
\u5173\u4e8e\u8f93\u51fa\u5c42\n<\/h4>
\u5728\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u4e2d\uff0c\u6700\u540e\u4e00\u5c42\uff08\u6216\u8005\u8bf4\u6700\u540e\u4e00\u90e8\u5206\uff09\u901a\u5e38\u88ab\u79f0\u4e3a\u8f93\u51fa\u5c42\u3002\u8fd9\u4e2a\u5c42\u7684\u4f5c\u7528\u662f\u5c06\u4e4b\u524d\u6240\u6709\u5c42\u7684\u4fe1\u606f\u96c6\u5408\u8d77\u6765\uff0c\u4ea7\u751f\u6700\u7ec8\u7684\u9884\u6d4b\u7ed3\u679c\u3002<\/p>\n
\u5bf9\u4e8eCNN\u8fdb\u884c\u5206\u7c7b\u4efb\u52a1\u65f6\uff0c\u8f93\u51fa\u90e8\u5206\u7684\u7f51\u7edc\u7ed3\u6784\u901a\u5e38\u662f\u4e00\u4e2a\u6216\u591a\u4e2a\u5168\u8fde\u63a5\u5c42\uff0c\u7136\u540e\u8fde\u63a5Softmax\u3002<\/p>\n
\u5f53\u7136\uff0c\u5982\u679c\u60f3\u8981\u4ece\u5377\u79ef\u5c42\u8fc7\u6e21\u5230\u5168\u8fde\u63a5\u5c42\uff0c\u4f60\u9700\u8981\u5bf9\u5377\u79ef\u5c42\u7684\u8f93\u51fa\u8fdb\u884c\u201c\u5c55\u5e73\u201d\u5904\u7406\uff0c\u7b80\u800c\u8a00\u4e4b\u5c31\u662f\u5c06\u4e8c\u7ef4\u6570\u636e\u9010\u884c\u4e32\u8d77\u6765\uff0c\u53d8\u6210\u4e00\u7ef4\u6570\u636e\u3002<\/p>\n
\u7531\u4e8e\u6b64\u65f6\u6570\u636e\u7ecf\u8fc7\u591a\u5c42\u5377\u79ef\u548c\u6c60\u5316\u64cd\u4f5c\uff0c\u6570\u636e\u91cf\u5df2\u5927\u5927\u51cf\u5c11\uff0c\u6240\u4ee5\u5168\u8fde\u63a5\u5c42\u8bbe\u8ba1\u7684\u53c2\u6570\u5c31\u4e0d\u4f1a\u6709\u90a3\u4e48\u591a\u4e86\u3002<\/p>\n
\u7531\u57fa\u7840\u6a21\u5757\u642d\u5efa\u6469\u5929\u5927\u697c\n<\/h4>
\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0cCNN\u7f51\u7edc\u5f80\u5f80\u662f\u7531\u591a\u4e2a\u5377\u79ef\u5c42\u6784\u6210\uff0c\u540e\u7eed\u518d\u7f00\u63a5\u5377\u79ef\u5c42\uff0c\u5219\u5c31\u662f\u5c06\u4e0a\u4e00\u5c42\u7684\u8f93\u51fa\u4f5c\u4e3a\u540e\u7eed\u7684\u8f93\u5165\uff0c\u7136\u540e\u91cd\u590d\u201c\u8f93\u5165\u5c42\u2192\u5377\u79ef\u5c42\u2192ReLU\u2192\u6c60\u5316\u5c42\u201d\u8fd9\u4e2a\u8fc7\u7a0b\uff0c\u5f53\u7136\u6c60\u5316\u5c42\u662f\u975e\u5fc5\u987b\u7684\u3002<\/p>\n
\u5b9e\u4f8b\u5206\u6790\n<\/h2>
CNN\u57fa\u7840\u5b9e\u9a8c\uff0c\u624b\u5199\u6570\u5b57\u8bc6\u522b\uff01\n<\/h3>
\u5728bilibili\u4e0a\u89c2\u770b\u4e86\u624b\u5199\u6570\u5b57\u8bc6\u522b\u7684\u6559\u7a0b\uff0c\u8ddf\u7740\u914d\u7f6e\u4e0b\u6765\u975e\u5e38\u7b80\u5355\uff0c\u662f\u57fa\u4e8ePython\u4ee3\u7801\u7684\u3002\u8c03\u7528\u4e86torch\u6765\u8fdb\u884c\u6a21\u578b\u8bad\u7ec3\u4e0e\u8bc6\u522b\u3002<\/p>\n
model.py\n<\/h4>
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span>28\n<\/span>29\n<\/span>30\n<\/span>31\n<\/span>32\n<\/span>33\n<\/span>34\n<\/span>35\n<\/span>36\n<\/span>37\n<\/span>38\n<\/span>39\n<\/span>40\n<\/span>41\n<\/span>42\n<\/span>43\n<\/span>44\n<\/span>45\n<\/span>46\n<\/span>47\n<\/span>48\n<\/span>49\n<\/span>50\n<\/span>51\n<\/span>52\n<\/span><\/code><\/pre><\/td>\n
\n
import<\/span> torch<\/span>\n<\/span><\/span>from<\/span> torch<\/span> import<\/span> nn<\/span>\n<\/span><\/span>\n<\/span><\/span>#\u5b9a\u4e49\u795e\u7ecf\u7f51\u7edcNetwork<\/span>\n<\/span><\/span>class<\/span> Network<\/span>(<\/span>nn<\/span>.<\/span>Module<\/span>):<\/span>\n<\/span><\/span>    def<\/span> __init__<\/span>(<\/span>self<\/span>):<\/span>\n<\/span><\/span>        super<\/span>()<\/span>.<\/span>__init__<\/span>()<\/span>\n<\/span><\/span>        # \u7ebf\u6027\u5c421\uff0c\u8f93\u5165\u5c42\u548c\u9690\u85cf\u5c42\u4e4b\u95f4\u7684\u7ebf\u6027\u5c42<\/span>\n<\/span><\/span>        self<\/span>.<\/span>layer1<\/span> =<\/span> nn<\/span>.<\/span>Linear<\/span>(<\/span>784<\/span>,<\/span> 256<\/span>)<\/span>\n<\/span><\/span>        # \u7ebf\u6027\u5c422\uff0c\u9690\u85cf\u5c42\u548c\u8f93\u51fa\u5c42\u4e4b\u95f4\u7684\u7ebf\u6027\u5c42<\/span>\n<\/span><\/span>        self<\/span>.<\/span>layer2<\/span> =<\/span> nn<\/span>.<\/span>Linear<\/span>(<\/span>256<\/span>,<\/span> 10<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u5728\u524d\u5411\u4f20\u64ad\uff0cforward\u51fd\u6570\u4e2d\uff0c\u8f93\u5165\u4e3a\u56fe\u50cfx<\/span>\n<\/span><\/span>    def<\/span> forward<\/span>(<\/span>self<\/span>,<\/span> x<\/span>):<\/span>\n<\/span><\/span>        x<\/span> =<\/span> x<\/span>.<\/span>view<\/span>(<\/span>-<\/span>1<\/span>,<\/span> 28<\/span> *<\/span> 28<\/span>)<\/span> # \u4f7f\u7528view\u51fd\u6570\uff0c\u5c06x\u5c55\u5e73<\/span>\n<\/span><\/span>        x<\/span> =<\/span> self<\/span>.<\/span>layer1<\/span>(<\/span>x<\/span>)<\/span>  # \u5c06x\u8f93\u5165\u81f3layer1<\/span>\n<\/span><\/span>        x<\/span> =<\/span> torch<\/span>.<\/span>relu<\/span>(<\/span>x<\/span>)<\/span>  # \u4f7f\u7528relu\u6fc0\u6d3b<\/span>\n<\/span><\/span>        return<\/span> self<\/span>.<\/span>layer2<\/span>(<\/span>x<\/span>)<\/span> # \u8f93\u5165\u81f3layer2\u8ba1\u7b97\u7ed3\u679c<\/span>\n<\/span><\/span>\n<\/span><\/span>#\u624b\u52a8\u7684\u904d\u5386\u6a21\u578b\u4e2d\u7684\u5404\u4e2a\u7ed3\u6784\uff0c\u5e76\u8ba1\u7b97\u53ef\u4ee5\u8bad\u7ec3\u7684\u53c2\u6570<\/span>\n<\/span><\/span>def<\/span> print_parameters<\/span>(<\/span>model<\/span>):<\/span>\n<\/span><\/span>    cnt<\/span> =<\/span> 0<\/span>\n<\/span><\/span>    for<\/span> name<\/span>,<\/span> layer<\/span> in<\/span> model<\/span>.<\/span>named_children<\/span>():<\/span> #\u904d\u5386\u6bcf\u4e00\u5c42<\/span>\n<\/span><\/span>        # \u6253\u5370\u5c42\u7684\u540d\u79f0\u548c\u8be5\u5c42\u4e2d\u5305\u542b\u7684\u53ef\u8bad\u7ec3\u53c2\u6570<\/span>\n<\/span><\/span>        print<\/span>(<\/span>f<\/span>"layer(<\/span>{<\/span>name<\/span>}<\/span>) parameters:"<\/span>)<\/span>\n<\/span><\/span>        for<\/span> p<\/span> in<\/span> layer<\/span>.<\/span>parameters<\/span>():<\/span>\n<\/span><\/span>            print<\/span>(<\/span>f<\/span>'<\/span>\\t<\/span> <\/span>{<\/span>p<\/span>.<\/span>shape<\/span>}<\/span> has <\/span>{<\/span>p<\/span>.<\/span>numel<\/span>()<\/span>}<\/span> parameters'<\/span>)<\/span>\n<\/span><\/span>            cnt<\/span> +=<\/span> p<\/span>.<\/span>numel<\/span>()<\/span> #\u5c06\u53c2\u6570\u6570\u91cf\u7d2f\u52a0\u81f3cnt<\/span>\n<\/span><\/span>    #\u6700\u540e\u6253\u5370\u6a21\u578b\u603b\u53c2\u6570\u6570\u91cf<\/span>\n<\/span><\/span>    print<\/span>(<\/span>'The model has <\/span>%d<\/span> trainable parameters<\/span>\\n<\/span>'<\/span> %<\/span> (<\/span>cnt<\/span>))<\/span>\n<\/span><\/span>\n<\/span><\/span>#\u6253\u5370\u8f93\u5165\u5f20\u91cfx\u7ecf\u8fc7\u6bcf\u4e00\u5c42\u65f6\u7684\u7ef4\u5ea6\u53d8\u5316\u60c5\u51b5<\/span>\n<\/span><\/span>def<\/span> print_forward<\/span>(<\/span>model<\/span>,<\/span> x<\/span>):<\/span>\n<\/span><\/span>    print<\/span>(<\/span>f<\/span>"x: <\/span>{<\/span>x<\/span>.<\/span>shape<\/span>}<\/span>"<\/span>)<\/span> # x\u4ece\u4e00\u4e2a5*28*28\u7684\u8f93\u5165\u5f20\u91cf<\/span>\n<\/span><\/span>    x<\/span> =<\/span> x<\/span>.<\/span>view<\/span>(<\/span>-<\/span>1<\/span>,<\/span> 28<\/span> *<\/span> 28<\/span>)<\/span> # \u7ecf\u8fc7view\u51fd\u6570\uff0c\u53d8\u6210\u4e86\u4e00\u4e2a5*784\u7684\u5f20\u91cf<\/span>\n<\/span><\/span>    print<\/span>(<\/span>f<\/span>"after view: <\/span>{<\/span>x<\/span>.<\/span>shape<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>    x<\/span> =<\/span> model<\/span>.<\/span>layer1<\/span>(<\/span>x<\/span>)<\/span> #\u7ecf\u8fc7\u7b2c1\u4e2a\u7ebf\u6027\u5c42\uff0c\u5f97\u52305*256\u7684\u5f20\u91cf<\/span>\n<\/span><\/span>    print<\/span>(<\/span>f<\/span>"after layer1: <\/span>{<\/span>x<\/span>.<\/span>shape<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>    x<\/span> =<\/span> torch<\/span>.<\/span>relu<\/span>(<\/span>x<\/span>)<\/span> #\u7ecf\u8fc7relu\u51fd\u6570\uff0c\u6ca1\u6709\u53d8\u5316<\/span>\n<\/span><\/span>    print<\/span>(<\/span>f<\/span>"after relu: <\/span>{<\/span>x<\/span>.<\/span>shape<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>    x<\/span> =<\/span> model<\/span>.<\/span>layer2<\/span>(<\/span>x<\/span>)<\/span> #\u7ecf\u8fc7\u7b2c2\u4e2a\u7ebf\u6027\u5c42\uff0c\u5f97\u5230\u4e00\u4e2a5*10\u7684\u7ed3\u679c<\/span>\n<\/span><\/span>    print<\/span>(<\/span>f<\/span>"after layer2: <\/span>{<\/span>x<\/span>.<\/span>shape<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>if<\/span> __name__<\/span> ==<\/span> '__main__'<\/span>:<\/span>\n<\/span><\/span>    model<\/span> =<\/span> Network<\/span>()<\/span> #\u5b9a\u4e49\u4e00\u4e2aNetwork\u6a21\u578b<\/span>\n<\/span><\/span>    print<\/span>(<\/span>model<\/span>)<\/span> #\u5c06\u5176\u6253\u5370\uff0c\u89c2\u5bdf\u6253\u5370\u7ed3\u679c\u53ef\u4ee5\u4e86\u89e3\u6a21\u578b\u7684\u7ed3\u6784<\/span>\n<\/span><\/span>    print<\/span>(<\/span>""<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>    print_parameters<\/span>(<\/span>model<\/span>)<\/span> #\u5c06\u6a21\u578b\u7684\u53c2\u6570\u6253\u5370\u51fa\u6765<\/span>\n<\/span><\/span>    #\u6253\u5370\u8f93\u5165\u5f20\u91cfx\u7ecf\u8fc7\u6bcf\u4e00\u5c42\u7ef4\u5ea6\u7684\u53d8\u5316\u60c5\u51b5<\/span>\n<\/span><\/span>    x<\/span> =<\/span> torch<\/span>.<\/span>zeros<\/span>([<\/span>5<\/span>,<\/span> 28<\/span>,<\/span> 28<\/span>])<\/span>\n<\/span><\/span>    print_forward<\/span>(<\/span>model<\/span>,<\/span> x<\/span>)<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
test.py\n<\/h4>
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span>28\n<\/span>29\n<\/span>30\n<\/span>31\n<\/span>32\n<\/span>33\n<\/span><\/code><\/pre><\/td>\n
\n
from<\/span> model<\/span> import<\/span> Network<\/span>\n<\/span><\/span>from<\/span> torchvision<\/span> import<\/span> transforms<\/span>\n<\/span><\/span>from<\/span> torchvision<\/span> import<\/span> datasets<\/span>\n<\/span><\/span>import<\/span> torch<\/span>\n<\/span><\/span>\n<\/span><\/span>if<\/span> __name__<\/span> ==<\/span> '__main__'<\/span>:<\/span>\n<\/span><\/span>    transform<\/span> =<\/span> transforms<\/span>.<\/span>Compose<\/span>([<\/span>\n<\/span><\/span>        transforms<\/span>.<\/span>Grayscale<\/span>(<\/span>num_output_channels<\/span>=<\/span>1<\/span>),<\/span>\n<\/span><\/span>        transforms<\/span>.<\/span>ToTensor<\/span>()<\/span>\n<\/span><\/span>    ])<\/span>\n<\/span><\/span>    # \u8bfb\u53d6\u6d4b\u8bd5\u6570\u636e\u96c6<\/span>\n<\/span><\/span>    test_dataset<\/span> =<\/span> datasets<\/span>.<\/span>ImageFolder<\/span>(<\/span>root<\/span>=<\/span>'.\/mnist_images\/test'<\/span>,<\/span> transform<\/span>=<\/span>transform<\/span>)<\/span>\n<\/span><\/span>    print<\/span>(<\/span>"test_dataset length: "<\/span>,<\/span> len<\/span>(<\/span>test_dataset<\/span>))<\/span>\n<\/span><\/span>\n<\/span><\/span>    model<\/span> =<\/span> Network<\/span>()<\/span>  # \u5b9a\u4e49\u795e\u7ecf\u7f51\u7edc\u6a21\u578b<\/span>\n<\/span><\/span>    model<\/span>.<\/span>load_state_dict<\/span>(<\/span>torch<\/span>.<\/span>load<\/span>(<\/span>'mnist.pth'<\/span>))<\/span> # \u52a0\u8f7d\u521a\u521a\u8bad\u7ec3\u597d\u7684\u6a21\u578b\u6587\u4ef6<\/span>\n<\/span><\/span>\n<\/span><\/span>    right<\/span> =<\/span> 0<\/span> # \u4fdd\u5b58\u6b63\u786e\u8bc6\u522b\u7684\u6570\u91cf<\/span>\n<\/span><\/span>    for<\/span> i<\/span>,<\/span> (<\/span>x<\/span>,<\/span> y<\/span>)<\/span> in<\/span> enumerate<\/span>(<\/span>test_dataset<\/span>):<\/span>\n<\/span><\/span>        output<\/span> =<\/span> model<\/span>(<\/span>x<\/span>)<\/span>  # \u5c06\u5176\u4e2d\u7684\u6570\u636ex\u8f93\u5165\u5230\u6a21\u578b<\/span>\n<\/span><\/span>        predict<\/span> =<\/span> output<\/span>.<\/span>argmax<\/span>(<\/span>1<\/span>)<\/span>.<\/span>item<\/span>()<\/span> # \u9009\u62e9\u6982\u7387\u6700\u5927\u6807\u7b7e\u7684\u4f5c\u4e3a\u9884\u6d4b\u7ed3\u679c<\/span>\n<\/span><\/span>        # \u5bf9\u6bd4\u9884\u6d4b\u503cpredict\u548c\u771f\u5b9e\u6807\u7b7ey<\/span>\n<\/span><\/span>        if<\/span> predict<\/span> ==<\/span> y<\/span>:<\/span>\n<\/span><\/span>            right<\/span> +=<\/span> 1<\/span>\n<\/span><\/span>        else<\/span>:<\/span>\n<\/span><\/span>            # \u5c06\u8bc6\u522b\u9519\u8bef\u7684\u6837\u4f8b\u6253\u5370\u4e86\u51fa\u6765<\/span>\n<\/span><\/span>            img_path<\/span> =<\/span> test_dataset<\/span>.<\/span>samples<\/span>[<\/span>i<\/span>][<\/span>0<\/span>]<\/span>\n<\/span><\/span>            print<\/span>(<\/span>f<\/span>"wrong case: predict = <\/span>{<\/span>predict<\/span>}<\/span> y = <\/span>{<\/span>y<\/span>}<\/span> img_path = <\/span>{<\/span>img_path<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u8ba1\u7b97\u51fa\u6d4b\u8bd5\u6548\u679c<\/span>\n<\/span><\/span>    sample_num<\/span> =<\/span> len<\/span>(<\/span>test_dataset<\/span>)<\/span>\n<\/span><\/span>    acc<\/span> =<\/span> right<\/span> *<\/span> 1.0<\/span> \/<\/span> sample_num<\/span>\n<\/span><\/span>    print<\/span>(<\/span>"test accuracy = <\/span>%d<\/span> \/ <\/span>%d<\/span> = <\/span>%.3lf<\/span>"<\/span> %<\/span> (<\/span>right<\/span>,<\/span> sample_num<\/span>,<\/span> acc<\/span>))<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
train.py\n<\/h4>
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span>28\n<\/span>29\n<\/span>30\n<\/span>31\n<\/span>32\n<\/span>33\n<\/span>34\n<\/span>35\n<\/span>36\n<\/span>37\n<\/span>38\n<\/span>39\n<\/span>40\n<\/span>41\n<\/span>42\n<\/span>43\n<\/span>44\n<\/span>45\n<\/span>46\n<\/span>47\n<\/span>48\n<\/span>49\n<\/span>50\n<\/span>51\n<\/span><\/code><\/pre><\/td>\n
\n
import<\/span> torch<\/span>\n<\/span><\/span>from<\/span> torch<\/span> import<\/span> nn<\/span>\n<\/span><\/span>from<\/span> torch<\/span> import<\/span> optim<\/span>\n<\/span><\/span>\n<\/span><\/span>from<\/span> model<\/span> import<\/span> Network<\/span>\n<\/span><\/span>\n<\/span><\/span>from<\/span> torchvision<\/span> import<\/span> transforms<\/span>\n<\/span><\/span>from<\/span> torchvision<\/span> import<\/span> datasets<\/span>\n<\/span><\/span>from<\/span> torch.utils.data<\/span> import<\/span> DataLoader<\/span>\n<\/span><\/span>\n<\/span><\/span>if<\/span> __name__<\/span> ==<\/span> '__main__'<\/span>:<\/span>\n<\/span><\/span>    # \u56fe\u50cf\u7684\u9884\u5904\u7406<\/span>\n<\/span><\/span>    transform<\/span> =<\/span> transforms<\/span>.<\/span>Compose<\/span>([<\/span>\n<\/span><\/span>        transforms<\/span>.<\/span>Grayscale<\/span>(<\/span>num_output_channels<\/span>=<\/span>1<\/span>),<\/span>  # \u8f6c\u6362\u4e3a\u5355\u901a\u9053\u7070\u5ea6\u56fe<\/span>\n<\/span><\/span>        transforms<\/span>.<\/span>ToTensor<\/span>()<\/span>  # \u8f6c\u6362\u4e3a\u5f20\u91cf<\/span>\n<\/span><\/span>    ])<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u8bfb\u5165\u5e76\u6784\u9020\u6570\u636e\u96c6<\/span>\n<\/span><\/span>    train_dataset<\/span> =<\/span> datasets<\/span>.<\/span>ImageFolder<\/span>(<\/span>root<\/span>=<\/span>'.\/mnist_images\/train'<\/span>,<\/span> transform<\/span>=<\/span>transform<\/span>)<\/span>\n<\/span><\/span>    print<\/span>(<\/span>"train_dataset length: "<\/span>,<\/span> len<\/span>(<\/span>train_dataset<\/span>))<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u5c0f\u6279\u91cf\u7684\u6570\u636e\u8bfb\u5165<\/span>\n<\/span><\/span>    train_loader<\/span> =<\/span> DataLoader<\/span>(<\/span>train_dataset<\/span>,<\/span> batch_size<\/span>=<\/span>64<\/span>,<\/span> shuffle<\/span>=<\/span>True<\/span>)<\/span>\n<\/span><\/span>    print<\/span>(<\/span>"train_loader length: "<\/span>,<\/span> len<\/span>(<\/span>train_loader<\/span>))<\/span>\n<\/span><\/span>\n<\/span><\/span>    model<\/span> =<\/span> Network<\/span>()<\/span>  # \u6a21\u578b\u672c\u8eab\uff0c\u5b83\u5c31\u662f\u6211\u4eec\u8bbe\u8ba1\u7684\u795e\u7ecf\u7f51\u7edc<\/span>\n<\/span><\/span>    optimizer<\/span> =<\/span> optim<\/span>.<\/span>Adam<\/span>(<\/span>model<\/span>.<\/span>parameters<\/span>())<\/span>  # \u4f18\u5316\u6a21\u578b\u4e2d\u7684\u53c2\u6570<\/span>\n<\/span><\/span>    criterion<\/span> =<\/span> nn<\/span>.<\/span>CrossEntropyLoss<\/span>()<\/span>  # \u5206\u7c7b\u95ee\u9898\uff0c\u4f7f\u7528\u4ea4\u53c9\u71b5\u635f\u5931\u8bef\u5dee<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u8fdb\u5165\u6a21\u578b\u7684\u8fed\u4ee3\u5faa\u73af<\/span>\n<\/span><\/span>    for<\/span> epoch<\/span> in<\/span> range<\/span>(<\/span>10<\/span>):<\/span>  # \u5916\u5c42\u5faa\u73af\uff0c\u4ee3\u8868\u4e86\u6574\u4e2a\u8bad\u7ec3\u6570\u636e\u96c6\u7684\u904d\u5386\u6b21\u6570<\/span>\n<\/span><\/span>        # \u6574\u4e2a\u8bad\u7ec3\u96c6\u8981\u5faa\u73af\u591a\u5c11\u8f6e\uff0c\u662f10\u6b21\u300120\u6b21\u6216\u8005100\u6b21\u90fd\u662f\u53ef\u80fd\u7684\uff0c<\/span>\n<\/span><\/span>\n<\/span><\/span>        # \u5185\u5b58\u5faa\u73af\u4f7f\u7528train_loader\uff0c\u8fdb\u884c\u5c0f\u6279\u91cf\u7684\u6570\u636e\u8bfb\u53d6<\/span>\n<\/span><\/span>        for<\/span> batch_idx<\/span>,<\/span> (<\/span>data<\/span>,<\/span> label<\/span>)<\/span> in<\/span> enumerate<\/span>(<\/span>train_loader<\/span>):<\/span>\n<\/span><\/span>            # \u5185\u5c42\u6bcf\u5faa\u73af\u4e00\u6b21\uff0c\u5c31\u4f1a\u8fdb\u884c\u4e00\u6b21\u68af\u5ea6\u4e0b\u964d\u7b97\u6cd5<\/span>\n<\/span><\/span>            # \u5305\u62ec\u4e865\u4e2a\u6b65\u9aa4:<\/span>\n<\/span><\/span>            output<\/span> =<\/span> model<\/span>(<\/span>data<\/span>)<\/span> # 1.\u8ba1\u7b97\u795e\u7ecf\u7f51\u7edc\u7684\u524d\u5411\u4f20\u64ad\u7ed3\u679c<\/span>\n<\/span><\/span>            loss<\/span> =<\/span> criterion<\/span>(<\/span>output<\/span>,<\/span> label<\/span>)<\/span> # 2.\u8ba1\u7b97output\u548c\u6807\u7b7elabel\u4e4b\u95f4\u7684\u635f\u5931loss<\/span>\n<\/span><\/span>            loss<\/span>.<\/span>backward<\/span>()<\/span>  # 3.\u4f7f\u7528backward\u8ba1\u7b97\u68af\u5ea6<\/span>\n<\/span><\/span>            optimizer<\/span>.<\/span>step<\/span>()<\/span>  # 4.\u4f7f\u7528optimizer.step\u66f4\u65b0\u53c2\u6570<\/span>\n<\/span><\/span>            optimizer<\/span>.<\/span>zero_grad<\/span>()<\/span>  # 5.\u5c06\u68af\u5ea6\u6e05\u96f6<\/span>\n<\/span><\/span>            # \u8fd95\u4e2a\u6b65\u9aa4\uff0c\u662f\u4f7f\u7528pytorch\u6846\u67b6\u8bad\u7ec3\u6a21\u578b\u7684\u5b9a\u5f0f\uff0c\u521d\u5b66\u7684\u65f6\u5019\uff0c\u5148\u8bb0\u4f4f\u5c31\u53ef\u4ee5\u4e86<\/span>\n<\/span><\/span>\n<\/span><\/span>            # \u6bcf\u8fed\u4ee3100\u4e2a\u5c0f\u6279\u91cf\uff0c\u5c31\u6253\u5370\u4e00\u6b21\u6a21\u578b\u7684\u635f\u5931\uff0c\u89c2\u5bdf\u8bad\u7ec3\u7684\u8fc7\u7a0b<\/span>\n<\/span><\/span>            if<\/span> batch_idx<\/span> %<\/span> 100<\/span> ==<\/span> 0<\/span>:<\/span>\n<\/span><\/span>                print<\/span>(<\/span>f<\/span>"Epoch <\/span>{<\/span>epoch<\/span> +<\/span> 1<\/span>}<\/span>\/10 "<\/span>\n<\/span><\/span>                      f<\/span>"| Batch <\/span>{<\/span>batch_idx<\/span>}<\/span>\/<\/span>{<\/span>len<\/span>(<\/span>train_loader<\/span>)<\/span>}<\/span> "<\/span>\n<\/span><\/span>                      f<\/span>"| Loss: <\/span>{<\/span>loss<\/span>.<\/span>item<\/span>()<\/span>:<\/span>.4f<\/span>}<\/span>"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>    torch<\/span>.<\/span>save<\/span>(<\/span>model<\/span>.<\/span>state_dict<\/span>(),<\/span> 'mnist.pth'<\/span>)<\/span> # \u4fdd\u5b58\u6a21\u578b<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u6570\u636e\u7684\u4e0b\u8f7d\n<\/h4>
\u6570\u636e\u91c7\u7528mnist\u56fd\u9645\u901a\u7528\u7684\u624b\u5199\u6570\u5b57\u8bc6\u522b\u5e93\uff0c\u4e0b\u8f7d\u65b9\u5f0f\u91c7\u7528python\u81ea\u52a8\u4e0b\u8f7d\uff0c\u53c2\u8003\u4e86\u7f51\u4e0a\u5927\u4f6c\u7684\u5f00\u6e90\uff0c\u811a\u672c\u5982\u4e0b\uff1a<\/p>\n
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span>19\n<\/span>20\n<\/span>21\n<\/span>22\n<\/span>23\n<\/span>24\n<\/span>25\n<\/span>26\n<\/span>27\n<\/span>28\n<\/span>29\n<\/span>30\n<\/span>31\n<\/span>32\n<\/span>33\n<\/span>34\n<\/span>35\n<\/span>36\n<\/span>37\n<\/span>38\n<\/span>39\n<\/span>40\n<\/span>41\n<\/span>42\n<\/span>43\n<\/span>44\n<\/span>45\n<\/span>46\n<\/span>47\n<\/span>48\n<\/span>49\n<\/span>50\n<\/span><\/code><\/pre><\/td>\n
\n
'''\n<\/span><\/span><\/span>1. \u901a\u8fc7 torchvision.datasets.MNIST \u4e0b\u8f7d\u3001\u89e3\u538b\u548c\u8bfb\u53d6 MNIST \u6570\u636e\u96c6\uff1b\n<\/span><\/span><\/span>2. \u4f7f\u7528 PIL.Image.save \u5c06 MNIST \u6570\u636e\u96c6\u4e2d\u7684\u7070\u5ea6\u56fe\u7247\u4ee5 PNG \u683c\u5f0f\u4fdd\u5b58\u3002\n<\/span><\/span><\/span>'''<\/span>\n<\/span><\/span>import<\/span> sys<\/span>,<\/span> os<\/span>\n<\/span><\/span>from<\/span> torchvision.datasets<\/span> import<\/span> MNIST<\/span>\n<\/span><\/span>from<\/span> tqdm<\/span> import<\/span> tqdm<\/span>\n<\/span><\/span>sys<\/span>.<\/span>path<\/span>.<\/span>insert<\/span>(<\/span>0<\/span>,<\/span> os<\/span>.<\/span>getcwd<\/span>())<\/span>     # \u5c06\u5f53\u524d\u5de5\u4f5c\u76ee\u5f55\u6dfb\u52a0\u5230\u6a21\u5757\u641c\u7d22\u8def\u5f84\u7684\u5f00\u5934<\/span>\n<\/span><\/span>\n<\/span><\/span>if<\/span> __name__<\/span> ==<\/span> "__main__"<\/span>:<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u56fe\u7247\u4fdd\u5b58\u8def\u5f84<\/span>\n<\/span><\/span>    root<\/span> =<\/span> 'mnist_images'<\/span>                   # \u5b9a\u4e49\u4fdd\u5b58\u56fe\u7247\u7684\u6839\u76ee\u5f55<\/span>\n<\/span><\/span>    if<\/span> not<\/span> os<\/span>.<\/span>path<\/span>.<\/span>exists<\/span>(<\/span>root<\/span>):<\/span>            # \u5982\u679c\u6839\u76ee\u5f55\u4e0d\u5b58\u5728<\/span>\n<\/span><\/span>        os<\/span>.<\/span>makedirs<\/span>(<\/span>root<\/span>)<\/span>                   # \u521b\u5efa\u6839\u76ee\u5f55<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u8bad\u7ec3\u96c660K\u3001\u6d4b\u8bd5\u96c610K<\/span>\n<\/span><\/span>    # torchvision.datasets.MNIST\u63a5\u53e3\u4e0b\u8f7d\u6570\u636e<\/span>\n<\/span><\/span>    training_dataset<\/span> =<\/span> MNIST<\/span>(<\/span>               # \u5b9e\u4f8b\u5316torchvision.datasets.MNIST \u7c7b\uff0c\u52a0\u8f7dMNIST\u6570\u636e\u96c6<\/span>\n<\/span><\/span>        root<\/span>=<\/span>'mnist'<\/span>,<\/span>                       # \u6570\u636e\u96c6\u5c06\u88ab\u4e0b\u8f7d\u5230\u5f53\u524d\u5de5\u4f5c\u76ee\u5f55\u4e0b\u7684 mnist \u6587\u4ef6\u5939\u4e2d<\/span>\n<\/span><\/span>        train<\/span>=<\/span>True<\/span>,<\/span>                         # \u6307\u5b9a\u8981\u4e0b\u8f7d\u7684\u662f\u8bad\u7ec3\u96c6<\/span>\n<\/span><\/span>        download<\/span>=<\/span>True<\/span>,<\/span>                      # \u5982\u679c\u672c\u5730\u8def\u5f84\u4e2d\u6ca1\u6709\u627e\u5230\u6570\u636e\u96c6\uff0c\u5219\u8054\u7f51\u4e0b\u8f7d\uff1b\u5982\u679c\u6570\u636e\u96c6\u5df2\u7ecf\u5b58\u5728\u4e8e\u6307\u5b9a\u7684 root \u76ee\u5f55\u4e2d\uff0c\u5219\u4e0d\u4f1a\u91cd\u65b0\u4e0b\u8f7d<\/span>\n<\/span><\/span>    )<\/span>\n<\/span><\/span>    test_dataset<\/span> =<\/span> MNIST<\/span>(<\/span>                   # \u5b9e\u4f8b\u5316torchvision.datasets.MNIST \u7c7b\uff0c\u52a0\u8f7dMNIST\u6570\u636e\u96c6<\/span>\n<\/span><\/span>        root<\/span>=<\/span>'mnist'<\/span>,<\/span>                       # \u6570\u636e\u96c6\u5c06\u88ab\u4e0b\u8f7d\u5230\u5f53\u524d\u5de5\u4f5c\u76ee\u5f55\u4e0b\u7684 mnist \u6587\u4ef6\u5939\u4e2d<\/span>\n<\/span><\/span>        train<\/span>=<\/span>False<\/span>,<\/span>                        # \u6307\u5b9a\u8981\u4e0b\u8f7d\u7684\u662f\u6d4b\u8bd5\u96c6<\/span>\n<\/span><\/span>        download<\/span>=<\/span>True<\/span>,<\/span>                      # \u5982\u679c\u672c\u5730\u8def\u5f84\u4e2d\u6ca1\u6709\u627e\u5230\u6570\u636e\u96c6\uff0c\u5219\u8054\u7f51\u4e0b\u8f7d\uff1b\u5982\u679c\u6570\u636e\u96c6\u5df2\u7ecf\u5b58\u5728\u4e8e\u6307\u5b9a\u7684 root \u76ee\u5f55\u4e2d\uff0c\u5219\u4e0d\u4f1a\u91cd\u65b0\u4e0b\u8f7d<\/span>\n<\/span><\/span>    )<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u4fdd\u5b58\u8bad\u7ec3\u96c6\u56fe\u7247<\/span>\n<\/span><\/span>    with<\/span> tqdm<\/span>(<\/span>total<\/span>=<\/span>len<\/span>(<\/span>training_dataset<\/span>),<\/span> ncols<\/span>=<\/span>150<\/span>)<\/span> as<\/span> pro_bar<\/span>:<\/span>   # \u521b\u5efa\u8fdb\u5ea6\u6761\uff0c\u5bbd\u5ea6\u4e3a150\u4e2a\u5b57\u7b26<\/span>\n<\/span><\/span>        for<\/span> idx<\/span>,<\/span> (<\/span>X<\/span>,<\/span> y<\/span>)<\/span> in<\/span> enumerate<\/span>(<\/span>training_dataset<\/span>):<\/span>             # \u904d\u5386\u8bad\u7ec3\u96c6\uff0cenumerate\u51fd\u6570\u4e3atraining_dataset\u7684\u6bcf\u4e2a\u5143\u7d20\u751f\u6210\u4e00\u4e2a\u5305\u542b\u7d22\u5f15\uff08idx\uff09\u548c\u5143\u7d20\u672c\u8eab\uff08X,y\uff09\u7684\u5143\u7ec4\uff0cX\u4ee3\u8868\u56fe\u50cf\u6570\u636e\uff0cy\u5219\u4e3a\u5bf9\u5e94\u6807\u7b7e<\/span>\n<\/span><\/span>            # \u521b\u5efa\u76ee\u6807\u6587\u4ef6\u5939<\/span>\n<\/span><\/span>            train_dir<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>root<\/span>,<\/span> "train"<\/span>,<\/span> str<\/span>(<\/span>y<\/span>))<\/span>         # \u5b9a\u4e49\u4fdd\u5b58\u8bad\u7ec3\u96c6\u56fe\u7247\u7684\u76ee\u5f55<\/span>\n<\/span><\/span>            if<\/span> not<\/span> os<\/span>.<\/span>path<\/span>.<\/span>exists<\/span>(<\/span>train_dir<\/span>):<\/span>                       # \u5982\u679c\u76ee\u5f55\u4e0d\u5b58\u5728<\/span>\n<\/span><\/span>                os<\/span>.<\/span>makedirs<\/span>(<\/span>train_dir<\/span>)<\/span>                              # \u521b\u5efa\u76ee\u5f55<\/span>\n<\/span><\/span>            f<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>train_dir<\/span>,<\/span> f<\/span>"training_<\/span>{<\/span>y<\/span>}<\/span>_<\/span>{<\/span>idx<\/span>}<\/span>.png"<\/span>)<\/span>  # \u4fdd\u5b58\u7684\u6587\u4ef6\u540d<\/span>\n<\/span><\/span>            X<\/span>.<\/span>save<\/span>(<\/span>f<\/span>)<\/span>                                               # \u4fdd\u5b58\u56fe\u7247\uff0ctorchvision.datasets.MNIST\u9ed8\u8ba4\u5c06\u56fe\u50cf\u52a0\u8f7d\u4e3aPIL\u56fe\u50cf\u683c\u5f0f\uff0c.save() \u662fPIL\u5e93\u4e2d\u56fe\u50cf\u5bf9\u8c61\u7684\u4e00\u4e2a\u65b9\u6cd5\uff0c\u7528\u4e8e\u5c06\u56fe\u50cf\u4fdd\u5b58\u5230\u6587\u4ef6<\/span>\n<\/span><\/span>            pro_bar<\/span>.<\/span>update<\/span>(<\/span>n<\/span>=<\/span>1<\/span>)<\/span>                                     # \u66f4\u65b0\u8fdb\u5ea6\u6761<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u4fdd\u5b58\u6d4b\u8bd5\u96c6\u56fe\u7247<\/span>\n<\/span><\/span>    with<\/span> tqdm<\/span>(<\/span>total<\/span>=<\/span>len<\/span>(<\/span>test_dataset<\/span>),<\/span> ncols<\/span>=<\/span>150<\/span>)<\/span> as<\/span> pro_bar<\/span>:<\/span>       # \u521b\u5efa\u8fdb\u5ea6\u6761\uff0c\u5bbd\u5ea6\u4e3a150\u4e2a\u5b57\u7b26<\/span>\n<\/span><\/span>        for<\/span> idx<\/span>,<\/span> (<\/span>X<\/span>,<\/span> y<\/span>)<\/span> in<\/span> enumerate<\/span>(<\/span>test_dataset<\/span>):<\/span>                 # \u904d\u5386\u6d4b\u8bd5\u96c6\uff0cenumerate\u51fd\u6570\u4e3atraining_dataset\u7684\u6bcf\u4e2a\u5143\u7d20\u751f\u6210\u4e00\u4e2a\u5305\u542b\u7d22\u5f15\uff08idx\uff09\u548c\u5143\u7d20\u672c\u8eab\uff08X,y\uff09\u7684\u5143\u7ec4\uff0cX\u4ee3\u8868\u56fe\u50cf\u6570\u636e\uff0cy\u5219\u4e3a\u5bf9\u5e94\u6807\u7b7e<\/span>\n<\/span><\/span>            # \u521b\u5efa\u76ee\u6807\u6587\u4ef6\u5939<\/span>\n<\/span><\/span>            test_dir<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>root<\/span>,<\/span> "test"<\/span>,<\/span> str<\/span>(<\/span>y<\/span>))<\/span>           # \u5b9a\u4e49\u4fdd\u5b58\u6d4b\u8bd5\u96c6\u56fe\u7247\u7684\u76ee\u5f55<\/span>\n<\/span><\/span>            if<\/span> not<\/span> os<\/span>.<\/span>path<\/span>.<\/span>exists<\/span>(<\/span>test_dir<\/span>):<\/span>                        # \u5982\u679c\u76ee\u5f55\u4e0d\u5b58\u5728<\/span>\n<\/span><\/span>                os<\/span>.<\/span>makedirs<\/span>(<\/span>test_dir<\/span>)<\/span>                               # \u521b\u5efa\u76ee\u5f55<\/span>\n<\/span><\/span>            f<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>test_dir<\/span>,<\/span> f<\/span>"test_<\/span>{<\/span>y<\/span>}<\/span>_<\/span>{<\/span>idx<\/span>}<\/span>.png"<\/span>)<\/span>       # \u4fdd\u5b58\u7684\u6587\u4ef6\u540d<\/span>\n<\/span><\/span>            X<\/span>.<\/span>save<\/span>(<\/span>f<\/span>)<\/span>                                               # \u4fdd\u5b58\u56fe\u7247\uff0ctorchvision.datasets.MNIST\u9ed8\u8ba4\u5c06\u56fe\u50cf\u52a0\u8f7d\u4e3aPIL\u56fe\u50cf\u683c\u5f0f\uff0c.save() \u662fPIL\u5e93\u4e2d\u56fe\u50cf\u5bf9\u8c61\u7684\u4e00\u4e2a\u65b9\u6cd5\uff0c\u7528\u4e8e\u5c06\u56fe\u50cf\u4fdd\u5b58\u5230\u6587\u4ef6<\/span>\n<\/span><\/span>            pro_bar<\/span>.<\/span>update<\/span>(<\/span>n<\/span>=<\/span>1<\/span>)<\/span>                                     # \u66f4\u65b0\u8fdb\u5ea6\u6761<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>"},{"title":"PMSM\u539f\u7406\u52a0\u63a7\u5236\u65b9\u6cd5\u4ee5\u53ca\u4eff\u771f","link":"https:\/\/a233a2.github.io\/p\/pmsm%E5%8E%9F%E7%90%86%E5%8A%A0%E6%8E%A7%E5%88%B6%E6%96%B9%E6%B3%95%E4%BB%A5%E5%8F%8A%E4%BB%BF%E7%9C%9F\/","pubDate":"Sat, 26 Oct 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/pmsm%E5%8E%9F%E7%90%86%E5%8A%A0%E6%8E%A7%E5%88%B6%E6%96%B9%E6%B3%95%E4%BB%A5%E5%8F%8A%E4%BB%BF%E7%9C%9F\/","description":"
PMSM\u7684\u6570\u5b66\u5efa\u6a21\n<\/h3>
\u81ea\u7136\u5750\u6807\u7cfb\u4e0bPMSM\u7684\u4e09\u76f8\u7535\u538b\u65b9\u7a0b\u4ee5\u53ca\u78c1\u94fe\u65b9\u7a0b\u3002<\/p>\n
\u78c1\u94fe\uff08Flux Linkage\uff09\n<\/h4>
\u662f\u63cf\u8ff0\u7535\u78c1\u73b0\u8c61\u7684\u4e00\u4e2a\u7269\u7406\u91cf\uff0c\u5b83\u8868\u793a\u7a7f\u8fc7\u67d0\u4e2a\u56de\u8def\u7684\u78c1\u573a\u7684\u603b\u6548\u5e94\u3002\n\u5728\u7535\u673a\u4e2d\uff0c\u78c1\u94fe\u901a\u5e38\u7528\u6765\u63cf\u8ff0\u7535\u6d41\u4e0e\u78c1\u573a<\/strong>\u4e4b\u95f4\u7684\u5173\u7cfb\u3002\u78c1\u94fe\u7684\u6982\u5ff5\u5728\u7535\u673a\u63a7\u5236\u548c\u7535\u78c1\u5b66\u4e2d\u975e\u5e38\u91cd\u8981\u3002\n\u5728\u6c38\u78c1\u540c\u6b65\u7535\u673a\uff08PMSM\uff09\u548c\u5176\u4ed6\u7535\u673a\u4e2d\uff0c\u78c1\u94fe\u662f\u5206\u6790\u7535\u538b\u3001\u7535\u6d41\u548c\u8f6c\u77e9\u7684\u5173\u952e\u56e0\u7d20\u3002\n\u6839\u636e\u7535\u78c1\u611f\u5e94\u5b9a\u5f8b\uff0c\u78c1\u94fe\u7684\u53d8\u5316\u4f1a\u5728\u5bfc\u4f53\u4e2d\u4ea7\u751f\u611f\u5e94\u7535\u52a8\u52bf\uff08\u7535\u538b\uff09\u3002<\/strong>\n\u5728\u63a7\u5236\u7cfb\u7edf\u4e2d\uff0c\u901a\u8fc7\u63a7\u5236\u78c1\u94fe\u7684\u5927\u5c0f\u548c\u65b9\u5411\uff0c\u53ef\u4ee5\u95f4\u63a5\u63a7\u5236\u7535\u673a\u7684\u8f6c\u77e9\u548c\u8f6c\u901f\u3002\n\u78c1\u94fe\u7684\u5b9a\u4e49\u4e3a\uff1a\u7a7f\u8fc7\u5bfc\u4f53\u7ebf\u5708\u7684\u78c1\u901a\u91cf\u4e0e\u7ebf\u5708\u531d\u6570\u7684\u4e58\u79ef\u3002\n\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a\uff1a
\n$$\ud835\udf06=\ud835\udc41\u22c5\u03a6$$
\n$\ud835\udf06$\u8868\u793a\u78c1\u94fe\uff08Flux Linkage\uff09\uff0c\u5355\u4f4d\u4e3a\u97e6\u4f2f\uff08Wb\uff09\u3002
\n$N$\u4e3a\u7ebf\u5708\u7684\u531d\u6570\u3002
\n$\u03a6$\u4e3a\u78c1\u901a\u91cf\uff08Flux\uff09\uff0c\u8868\u793a\u7a7f\u8fc7\u7ebf\u5708\u7684\u78c1\u573a\u5f3a\u5ea6\u7684\u603b\u91cf\uff0c\u5355\u4f4d\u4e5f\u662f\u97e6\u4f2f\uff08Wb\uff09\u3002<\/p>\n
\u7535\u6d41\u4ea7\u751f\u7684\u78c1\u94fe\uff1a\u5f53\u7535\u6d41\u901a\u8fc7\u7ebf\u5708\u65f6\uff0c\u4f1a\u4ea7\u751f\u4e00\u4e2a\u73af\u7ed5\u7ebf\u5708\u7684\u78c1\u573a\uff0c\u8fd9\u4e2a\u78c1\u573a\u7684\u78c1\u901a\u91cf\u5728\u7ebf\u5708\u4e2d\u7d2f\u79ef\uff0c\u5f62\u6210\u78c1\u94fe\u3002\u6c38\u78c1\u4f53\u4ea7\u751f\u7684\u78c1\u94fe\uff1a\u5728\u6c38\u78c1\u540c\u6b65\u7535\u673a\u4e2d\uff0c\u8f6c\u5b50\u4e0a\u7684\u6c38\u78c1\u4f53\u4ea7\u751f\u7684\u78c1\u573a\u4e5f\u4f1a\u5728\u5b9a\u5b50\u7ed5\u7ec4\u4e2d\u4ea7\u751f\u78c1\u94fe\uff0c\u8fd9\u4e2a\u78c1\u94fe\u901a\u5e38\u79f0\u4e3a\u201c\u8f6c\u5b50\u78c1\u94fe\u201d\u6216\u201c\u6c38\u78c1\u4f53\u78c1\u94fe\u201d\u3002 
\n\u6839\u636e\u6cd5\u62c9\u7b2c\u7535\u78c1\u611f\u5e94\u5b9a\u5f8b\uff0c\u78c1\u94fe\u7684\u53d8\u5316\u7387\u51b3\u5b9a\u4e86\u611f\u5e94\u7535\u52a8\u52bf\u7684\u5927\u5c0f\uff0c\u6570\u5b66\u8868\u8fbe\u4e3a\uff1a    
\n$$e=\u2212dt\/d\u03bb$$ 
\n\u56e0\u6b64\uff0c\u78c1\u94fe\u7684\u53d8\u5316\u76f4\u63a5\u5f71\u54cd\u7535\u673a\u7684\u7535\u538b\u65b9\u7a0b\u548c\u63a7\u5236\u7b56\u7565\u3002<\/p>\n
\u81ea\u7136\u5750\u6807\u7cfb\u4e0bPMSM\u7684\u4e09\u76f8\u7535\u538b\u65b9\u7a0b\u4ee5\u53ca\u78c1\u94fe\u65b9\u7a0b\n<\/h4>
    
\n<\/p>\n
\u7535\u78c1\u8f6c\u77e9\n<\/h4>
        
\n\u7535\u78c1\u8f6c\u77e9\u53e6\u5916\u53ef\u4ee5\u7406\u89e3\u4e3a\u7535\u673a\u4e2d\u78c1\u573a\u50a8\u80fd\u5bf9\u673a\u68b0\u89d2\u5ea6\u7684\u504f\u5bfc\u6570\u3002\uff08\u6765\u6e90\u4e8e\u6559\u6750\uff09\n\u8fd9\u79cd\u7406\u89e3\u6765\u6e90\u4e8e\u7535\u673a\u4e2d\u7684\u80fd\u91cf\u8f6c\u6362\u539f\u7406\uff0c\u5373\u7535\u78c1\u80fd\u91cf\u7684\u53d8\u5316\u4f1a\u63a8\u52a8\u8f6c\u5b50\u65cb\u8f6c\uff0c\u5f62\u6210\u7535\u78c1\u8f6c\u77e9\u3002<\/p>\n
\u78c1\u573a\u50a8\u80fd\u516c\u5f0f\n<\/h5>
      
\n\u6559\u6750\u4e2d\u6709\u7535\u6d41\u8f6c\u7f6e\uff0c\u662f\u56e0\u4e3a\u7535\u6d41\u9700\u8981\u52a0\u4e00\u4e2a\u8f6c\u7f6e\u7b26\u53f7\u901a\u5e38\u662f\u56e0\u4e3a\u5728\u7535\u673a\u63a7\u5236\u548c\u77e9\u9635\u8fd0\u7b97\u4e2d\uff0c\u7535\u6d41\u548c\u78c1\u94fe\u901a\u5e38\u8868\u793a\u4e3a\u5411\u91cf\uff0c\u800c\u78c1\u573a\u50a8\u80fd\u8ba1\u7b97\u6d89\u53ca\u5411\u91cf\u4e4b\u95f4\u7684\u70b9\u79ef\u6216\u77e9\u9635\u4e58\u6cd5\u3002\u4e3a\u4e86\u8fdb\u884c\u8fd9\u4e9b\u8fd0\u7b97\uff0c\u9700\u8981\u786e\u4fdd\u7ef4\u5ea6\u5339\u914d\uff0c\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\u9700\u8981\u5c06\u7535\u6d41\u5411\u91cf\u8fdb\u884c\u8f6c\u7f6e\u3002
\n      
\n<\/p>\n
\u7535\u673a\u7684\u673a\u68b0\u8fd0\u52a8\u65b9\u7a0b\n<\/h4>
   
\n<\/p>\n
\u4e09\u76f8\u5750\u6807\u53d8\u6362\n<\/h3>
\u5bf9\u6570\u5b66\u6a21\u578b\u8fdb\u884c\u964d\u4ef7\u4e0e\u89e3\u8026\u53d8\u6362\u3002<\/p>\n
Clark\u53d8\u6362\uff08\u9759\u6b62\u5750\u6807\u53d8\u6362\uff09\n<\/h4>
Clark\u53d8\u6362\uff08Clarke Transform\uff09\u662f\u4e00\u79cd\u5c06\u4e09\u76f8\u4ea4\u6d41\u4fe1\u53f7\u8f6c\u6362\u4e3a\u4e24\u76f8\u76f4\u4ea4\u5750\u6807\u7cfb<\/strong>\u7684\u6570\u5b66\u53d8\u6362\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u7535\u673a\u63a7\u5236\u548c\u7535\u529b\u7535\u5b50\u9886\u57df\u3002\u5176\u4e3b\u8981\u76ee\u7684\u662f\u7b80\u5316\u4e09\u76f8\u7535\u6d41\u6216\u7535\u538b\u7684\u5206\u6790\u548c\u63a7\u5236\uff0c\u5c24\u5176\u662f\u5728\u8fdb\u884c\u63a7\u5236\u7b97\u6cd5\u8bbe\u8ba1\u65f6\uff08\u5982\u5728\u7a7a\u95f4\u77e2\u91cf\u8c03\u5236\u548cPID\u63a7\u5236\u4e2d\uff09\u3002 
\n<\/p>\n
Park\u53d8\u6362\uff08\u540c\u6b65\u65cb\u8f6c\u5750\u6807\u53d8\u6362\uff09\n<\/h4>
Park\u53d8\u6362\uff08Park Transform\uff09\u662f\u4e00\u79cd\u7528\u4e8e\u5c06\u4e09\u76f8\u4ea4\u6d41\u4fe1\u53f7\uff08\u901a\u5e38\u662f\u7535\u6d41\u6216\u7535\u538b\uff09\u8f6c\u6362\u4e3a\u65cb\u8f6c\u5750\u6807\u7cfb\u7684\u6570\u5b66\u53d8\u6362\u3002\u5b83\u662f\u7535\u673a\u63a7\u5236\u4e2d\u975e\u5e38\u91cd\u8981\u7684\u5de5\u5177\uff0c\u7279\u522b\u662f\u5728\u63a7\u5236\u7535\u673a\u7684\u77e2\u91cf\u63a7\u5236\uff08Field-Oriented Control, FOC\uff09\u4e2d\uff0cPark\u53d8\u6362\u5e2e\u52a9\u5c06\u4e09\u76f8\u4fe1\u53f7\u8f6c\u6362\u4e3a\u76f4\u6d41\u4fe1\u53f7\uff0c\u4ece\u800c\u7b80\u5316\u63a7\u5236\u7b56\u7565\u3002 
\n<\/p>\n
\u53cdPark\u53d8\u6362\n<\/h5>
\u53cdPark\u53d8\u6362\uff08Inverse Park Transform\uff09\u662fPark\u53d8\u6362\u7684\u9006\u8fc7\u7a0b\uff0c\u7528\u4e8e\u5c06\u65cb\u8f6c\u5750\u6807\u7cfb\u4e2d\u7684\u76f4\u6d41\u4fe1\u53f7\uff08$d$ \u548c $q$ \u5206\u91cf\uff09\u8f6c\u6362\u56de\u4e09\u76f8\u4ea4\u6d41\u4fe1\u53f7\uff08\u901a\u5e38\u662f\u7535\u6d41\u6216\u7535\u538b\uff09\u3002\u53cdPark\u53d8\u6362\u5728\u7535\u673a\u63a7\u5236\u4e2d\u975e\u5e38\u91cd\u8981\n\uff0c\u56e0\u4e3a\u5b83\u53ef\u4ee5\u5c06\u63a7\u5236\u7b97\u6cd5\u8f93\u51fa\u7684\u4fe1\u53f7\u8f6c\u6362\u4e3a\u5b9e\u9645\u7535\u673a\u6240\u9700\u7684\u4e09\u76f8\u4fe1\u53f7\uff0c\u4ee5\u4fbf\u63a7\u5236\u7535\u673a\u7684\u8fd0\u884c\u3002<\/p>\n"},{"title":"DRCAN-Learn-Blog-Advance","link":"https:\/\/a233a2.github.io\/p\/drcan-learn-blog-advance\/","pubDate":"Wed, 23 Oct 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/drcan-learn-blog-advance\/","description":"\"Featured
\u6b64Blog\u8bb0\u5f55\u4e86\u672c\u4eba\u6309\u7167DRCAN\u89c6\u9891\u63a8\u8350\u7684\u5b66\u4e60\u987a\u5e8f\u6765\u7cfb\u7edf\u5b66\u4e60DRCAN\u53d1\u8868\u7684\u63a7\u5236\u76f8\u5173\u89c6\u9891\u3002\u535a\u5ba2\u4f5c\u4e3a\u7b14\u8bb0\u4f7f\u7528\u3002<\/p>\n
1-\u72b6\u6001\u7a7a\u95f4\u8868\u8fbe\n<\/h3>
\u4ee5\u4e00\u4e2a\u8d28\u91cf\u5757-\u5f39\u7c27-\u963b\u5c3c\u5668\u7cfb\u7edf\u6765\u8fdb\u884c\u5206\u6790\uff1a
\n   
\n\u72b6\u6001\u7a7a\u95f4\u8868\u8fbe\u662f\u5373\u4e3a\uff1a\u7cfb\u7edf\u8f93\u5165\u8f93\u51fa\u72b6\u6001\u53d8\u91cf\u7684\u4e00\u4e2a\u96c6\u5408\uff0c\u7528\u4e00\u9636\u5fae\u5206\u65b9\u7a0b\u7684\u5f62\u5f0f\u8868\u8fbe\u51fa\u6765\u3002<\/strong>\n\n\u72b6\u6001\u7a7a\u95f4\u8868\u8fbe\u4e0e\u4f20\u9012\u51fd\u6570\u4e4b\u95f4\u7684\u5173\u7cfb\uff1a\u5305\u62ec\u8f6c\u6362\u65b9\u7a0b\uff0c\u4ee5\u53ca\u91cd\u8981\u7ed3\u8bba\uff1a|SI-A|\u77e9\u9635\u7684\u7279\u5f81\u503c\u5c31\u662f\u4f20\u9012\u51fd\u6570\u7684\u6781\u70b9\uff01<\/strong><\/p>\n
2-\u72b6\u6001\u7a7a\u95f4\u65b9\u7a0b\u7684\u89e3\n<\/h3>
\u6709\u70b9\u96be\u4ee5\u63a8\u5bfc\u4e14\u8ba4\u4e3a\u63a8\u5bfc\u8fc7\u7a0b\u4e0d\u592a\u91cd\u8981
\n
\n
\n<\/p>\n
3-\u76f8\u56fe-\u76f8\u8f68\u8ff9\n<\/h3>
\u76f8\u8f68\u8ff9\u662f\u7cfb\u7edf\u7684\u72b6\u6001\u968f\u65f6\u95f4\u53d8\u5316\u7684\u8f68\u8ff9\u3002\u5f53\u65f6\u95f4\u53d8\u5316\u65f6\uff0c\u7cfb\u7edf\u7684\u72b6\u6001\u70b9\u5728\u72b6\u6001\u7a7a\u95f4\u4e2d\u79fb\u52a8\uff0c\u8fd9\u6761\u79fb\u52a8\u7684\u8f68\u8ff9\u5c31\u662f\u76f8\u8f68\u8ff9\u3002<\/p>\n
\u5bf9\u4e8e\u4e00\u4e2a\u963b\u5c3c\u6446\uff0c\u7cfb\u7edf\u7684\u80fd\u91cf\u4f1a\u9010\u6e10\u8870\u51cf\uff0c\u6700\u7ec8\u8d8b\u4e8e\u9759\u6b62\u3002\u5176\u76f8\u8f68\u8ff9\u4e0d\u4f1a\u5f62\u6210\u95ed\u5408\u7684\u66f2\u7ebf\uff0c\u800c\u662f\u4e00\u4e2a\u9010\u6e10\u6536\u7f29\u7684\u87ba\u65cb\uff0c\u6700\u7ec8\u6536\u655b\u5230\u5e73\u8861\u70b9\uff08\u6446\u9759\u6b62\u7684\u4f4d\u7f6e\uff09\u3002\u8fd9\u8bf4\u660e\u7cfb\u7edf\u662f\u7a33\u5b9a\u7684\uff0c\u4e14\u6709\u80fd\u91cf\u635f\u5931\u3002<\/p>\n

\n\u53ef\u4ee5\u901a\u8fc7\u5206\u6790\u5bfc\u6570\u6b63\u8d1f\u6765\u5224\u522b\u8be5\u70b9\u7684\u7a33\u5b9a\u6027\uff0c\u540e\u9762\u7ed3\u8bba\u91cd\u8981\u4e00\u4e9b\u3002
\n
\n\u7279\u6b8a\u7684\u4e00\u79cd\u978d\u70b9\u3002\u5728\u6b64\u4ee4\u4e86\u4e0a\u8ff0x\u4e0ey\u7684\u5bfc\u6765\u786e\u5b9ax\u7684\u8f93\u51fa\uff1f\u8fd9\u4e2a\u6709\u4e9b\u590d\u6742\u3002\u5e94\u8be5\u662f\u7528\u5230\u4e86\u7ebf\u6027\u4ee3\u6570\u7684\u5750\u6807\u53d8\u6362 \u770b\u4e0d\u592a\u61c2\u3002\u3002\u770b\u7279\u5f81\u503c\u76f4\u89c2\u70b9\u3002 
\n
\n\u5bf9\u4e8e\u590d\u6570\u7684\uff0c\u800c\u5b9e\u90e8\u4e3a0\u7684\u7279\u5f81\u503c\u3002\u662f\u4e00\u4e2a\u692d\u5706\uff0cFixed Point\u4e3aCenter\u3002 
\n
\n\u7279\u5f81\u503c\u590d\u6570\u4f46\u662f\u5b9e\u90e8\u4e0d\u4e3a0\u7684\u65f6\u5019\u3002 
\n
\n\u603b\u7ed3\u4e0a\u8ff0\u60c5\u51b5\u3002<\/p>\n
3.5-\u8fde\u7eed\u7cfb\u7edf\u7684\u79bb\u6563\u5316\n<\/h3>
\u91c7\u6837\u9891\u7387\u81f3\u5c11\u8981\u4e3a\u539f\u7cfb\u7edf\u9891\u7387\u7684\u4e24\u500d\uff0c\u8fd9\u6837\u624d\u80fd\u91cd\u5efa\u51fa\u539f\u4fe1\u53f7\u3002\u5426\u5219\u53ef\u80fd\u51fa\u73b0\u6df7\u53e0\u73b0\u8c61\uff0c\u4e0d\u80fd\u590d\u73b0\u539f\u7cfb\u7edf\u53d8\u5316\u8d8b\u52bf\u3002\uff082\u500d\u53ea\u662f\u4e0b\u9650\u7406\u8bba\u503c\uff0c\u5b9e\u9645\u5de5\u7a0b\u4e2d\u9009\u53d65-10\u500d\uff09 
\nZero Order Hold \uff08ZOH\u96f6\u9636\u4fdd\u6301\u5668\uff09\uff0c\u4f7f\u5f97\u63a7\u5236\u91cf\u5728\u4e00\u4e2a\u63a7\u5236\u5468\u671f\u5185\u4fdd\u6301\u4e0d\u53d8\u3002<\/p>\n
\u91c7\u6837\u5468\u671f\u8981\u4e0e\u6570\u636e\u5904\u7406\u63a7\u5236\u65f6\u95f4\u76f8\u5339\u914d\u3002\u82e5\u6570\u636e\u8bfb\u5165\u5904\u7406\u9700\u898150ms\uff0c\u5219\u5c0f\u4e8e50ms\u7684\u91c7\u6837\u5468\u671f\u5c06\u53d8\u5f97\u6ca1\u6709\u610f\u4e49\u3002 
\n
\nError   \uff1aG(T) = \u222b(0,T) exp(A\u03c4) d\u03c4\u00b7B\n\u72b6\u6001\u7a7a\u95f4\u7684\u89e3\u8f93\u51fa\uff0c\u5728\u79bb\u6563\u7cfb\u7edf\u4e0b\u7684\u8868\u8fbe\u5f62\u5f0f\u3002\u79bb\u6563\u7cfb\u7edf\u4e0b\u4e0d\u5173\u5fc3t\uff0c\u800c\u7740\u91cd\u4e0e\u6bcf\u4e2a\u5468\u671f\u3002\u7cfb\u7edf\u8f93\u5165u\u5728\u4e00\u4e2a\u5468\u671f\u5185\u53ef\u4ee5\u770b\u4f5c\u4e00\u4e2a\u5e38\u6570\uff08ZOH\u7684\u4f5c\u7528\uff09\u3002\u6240\u4ee5\u53ef\u4ee5\u63d0\u53d6\u51fa\u6765\u3002<\/p>\n
\u4f7f\u7528\u8f6f\u4ef6\u5c06\u8fde\u7eed\u7cfb\u7edf\u8f6c\u5316\u4e3a\u79bb\u6563\u7cfb\u7edf \u6307\u4ee4c2d(sys,f)<\/strong>\u3002<\/p>\n
4-\u76f8\u56fe-\u76f8\u8f68\u8ff9\u52a8\u6001\u7cfb\u7edf\u5206\u6790Phase Portrait\u7231\u60c5\u6545\u4e8b\n<\/h3>
\u76f8\u8f68\u8ff9<\/p>\n
5-\u7cfb\u7edf\u7684\u53ef\u63a7\u6027\n<\/h3>
\u8bb2\u89e3\u4e86\u5bf9\u4e8e\u72b6\u6001\u7a7a\u95f4\u8868\u8fbe\u7684\u79e9\u5224\u636e\u7684\u76f8\u5173\u5185\u5bb9\u3002\u79e9\u5224\u636e\u7684\u76f8\u5173\u6570\u5b66\u8bc1\u660e: 
\n\u53e6\u5916\u8bb2\u89e3\u4e86\u5b9a\u4e49\u7684\u53ef\u63a7\u6027\u662f\u4f55\u79cd\u610f\u4e49\u4e0a\u7684\u53ef\u63a7\u6027\u3002 
\n<\/p>\n
6-\u674e\u96c5\u666e\u8bfa\u592b\u7a33\u5b9a\u6027\n<\/h3>
\u8bb2\u89e3\u4e86\u674e\u96c5\u666e\u8bfa\u592b\u7a33\u5b9a\u6027\u7684\u4e25\u7981\u6570\u5b66\u5b9a\u4e49\u3002\u4ee5\u53ca\u5bf9\u4e8e\u72b6\u6001\u8f6c\u79fb\u77e9\u9635A\u77e9\u9635\u7279\u5f81\u503c\u7684\u51e0\u79cd\u5f62\u5f0f\u6765\u5b9a\u4e49\u674e\u96c5\u666e\u8bfa\u592b\u7684\u96c6\u4e2d\u7a33\u5b9a\u6027\u3002 
\n\u9488\u5bf9\u975e\u7ebf\u6027\u7cfb\u7edf\uff0c\u533a\u522b\u4e8e\u4f20\u7edf\u89e3\u5fae\u5206\u65b9\u7a0b\uff0c\u91c7\u7528\u674e\u96c5\u666e\u8bfa\u592b\u7b2c\u4e8c\u6cd5\u8fdb\u884c\u89e3\u51b3\uff0c\u5728\u6b64\u5904\u8fdb\u884c\u4e86\u7b80\u5355\u7684\u4ecb\u7ecd\u3002 
\n
\n<\/p>\n
7-\u7ebf\u6027\u63a7\u5236\u5668\u8bbe\u8ba1\n<\/h3>
\u8fd9\u90e8\u5206\u4fbf\u662f\u4e4b\u524d\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u65b9\u9762\u7684\u6839\u636e\u671f\u671b\u7684\u7279\u5f81\u503c\u6765\u786e\u5b9a\u7cfb\u7edf\u7684\u4e0d\u540ck\u589e\u76ca\u7684\u8f93\u5165\u3002\n\u4ee4u=kx\uff0c\u5bf9\u671f\u671b\u7684$\\lambda$\u5217\u51fa\u95ed\u73af\u77e9\u9635Acl\uff0c\u5bf9Acl\u6c42\u7279\u5f81\u503c?\uff08\u5e94\u8be5\u662f \u592a\u4e45\u8fdc\u4e86 \u6709\u70b9\u9057\u5fd8\uff09\n\u5217\u51fa\u4ee5$\\lambda$\u4e3a\u672a\u77e5\u91cf\u7684\u65b9\u7a0b\uff0c\u7ed3\u5408\u671f\u671b$\\lambda$\u7684\u7279\u5f81\u503c\u65b9\u7a0b\u5bf9\u5e94\u76f8\u7b49\u3002\u6c42\u5f97k\u77e9\u9635\u3002\n 
\n<\/p>\n
8-LQR\u63a7\u5236\uff08Liner Quadratic Regulator\uff09\n<\/h3>
\u7ebf\u6027\u4e8c\u6b21\u578b\u8c03\u8282\u5668\u3002\u662f\u4e00\u79cd\u5bf9\u63a7\u5236\u7cfb\u7edf\u7684\u76ee\u6807$\\lambda$\u8fdb\u884c\u786e\u5b9a\u7684\u6700\u4f18\u63a7\u5236\u7b97\u6cd5\u3002 
\n\u5176\u8bbe\u7f6e\u4e86\u4e00\u79cd\u60e9\u7f5a\u51fd\u6570J\uff0c\u901a\u8fc7\u6c42\u5f97MinJ\u6765\u786e\u5b9a\u7cfb\u7edf\u6700\u4f18\u7684$\\lambda$\u3002\u8fdb\u800c\u8fdb\u884c\u7ebf\u6027\u63a7\u5236\u5668\u7684\u8bbe\u8ba1\u3002\n<\/p>\n
9-\u72b6\u6001\u89c2\u6d4b\u5668\u8bbe\u8ba1\uff08Luenberger\u4e3a\u4f8b\uff09\n<\/h3>
LQR\u63a7\u5236\u7b49\u7ebf\u6027\u63a7\u5236u=-kx\u7684\u524d\u63d0\u662f\u72b6\u6001x\u5168\u90e8\u53ef\u6d4b\u3002\u800c\u5bf9\u4e8e\u72b6\u6001\u4e0d\u53ef\u6d4b\u7684\u7cfb\u7edf\u9700\u8981\u89c2\u6d4b\u5668Observer 
\n\u4e5f\u662f\u4e4b\u524d\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\u7684\u5fc5\u505a\u9898\u7c7b\u578b\u3002\u89c2\u6d4b\u5668\u5efa\u7acb\u4e86\u4e00\u4e2a\u65b0\u7684\u53cd\u9988\u7cfb\u7edf\u76ee\u6807\u662f\u4f7f\u5f97\u89c2\u6d4b\u503c\u4e0e\u5b9e\u9645\u503c\u76f8\u5dee\u7684err\u4e3a0\u3002      
\n\u89c2\u6d4b\u5668\u4e5f\u5c31\u662f \u6839\u636e\u7cfb\u7edf\u73b0\u6709\u7684\u8f93\u5165\u548c\u8f93\u51fa \u6765\u4f30\u8ba1\u7cfb\u7edf\u7684\u72b6\u6001\u3002 
\n<\/p>\n
\u53e6\u5916\u6839\u636e\u4e4b\u524d\u7684\u963b\u5c3c\u5668-\u5f39\u7c27-\u8d28\u91cf\u5757\u7ecf\u5178\u7cfb\u7edf\u8fdb\u884c\u4e86\u89c2\u6d4b\u5668\u8bbe\u8ba1\uff0c\u8bbe\u5b9a\u4e24\u4e2a\u7279\u5f81\u503c\u671f\u671b\u4e3a-1 -1\u3002 
\n 
\nSimulink\u4eff\u771f 
\n 
\n\u89c2\u6d4b\u5668\u72b6\u6001\u7a7a\u95f4\u662f\u76ee\u6807$\\lambda$=-1 -1\u6c42\u89e3\u51fa\u6765\u7684\u3002\nZ2\u72b6\u6001\u4e0d\u53ef\u6d4b\uff0c\u76f4\u63a5\u8fd0\u884c\u65f6\uff0c\u4f30\u8ba1\u503c\u4e0e\u771f\u5b9e\u503c\u5b8c\u5168\u91cd\u5408\u3002\n\u5728Z2hat\u4f30\u8ba1\u503c\u7684\u5730\u65b9\u5bf9z2\u4f30\u8ba1\u503c\u8fdb\u884c\u8d4b\u521d\u503c\u4e3a1\u7684\u64cd\u4f5c\u65f6\uff0c\u53ef\u4ee5\u8ba4\u4e3az2\u5f00\u59cb\u65f6\u4f30\u8ba1\u503c\u4e0e\u771f\u5b9e\u503c\u6709\u4e86\u504f\u5dee\u3002 
\n\u6b64\u65f6\uff0c\u7cfb\u7edf\u7684\u8f93\u51fa\u56fe\u50cf\u6709\u4e86\u504f\u5dee\uff0cz1\u4e0ez2\u4f30\u8ba1\u503c\u6709\u5173\uff0c\u6240\u4ee5\u4e24\u4e2a\u56fe\u50cf\u5168\u90e8\u51fa\u73b0\u4e86\u504f\u5dee\u3002\u4e14\u80fd\u591f\u5728\u540e\u7eed\u8fc7\u7a0b\u4e2d\u5b8c\u6210\u8ddf\u968f\u89c2\u6d4b\u3002\n<\/p>\n
10-\u53ef\u89c2\u6d4b\u6027\u4e0e\u5206\u79bb\u539f\u7406\n<\/h3>
<\/p>\n
<\/p>\n
12-\u975e\u7ebf\u6027\u7406\u8bba\u57fa\u7840\n<\/h3>

\n….\u4ecb\u7ecd\u4e86\u6b63\u5b9a \u534a\u6b63\u5b9a \u8d1f\u5b9a \u534a\u8d1f\u5b9a\u7684\u5404\u79cd\u51fd\u6570\u3002 
\n
\n\u6b64\u5904\u5728\u8bbe\u8ba1Lyapunov\u51fd\u6570\u7684\u65f6\u5019\u4f7f\u7528\u5230\u4e86\u7269\u7406\u4e0a\u7684\u80fd\u91cf\u6982\u5ff5\uff0c\u52a8\u80fd\u4e0e\u91cd\u529b\u52bf\u80fd\u76f8\u7ed3\u5408\u641e\u51fa\u6765\u4e86\u4e00\u4e2a\u771f\u6b63\u7684\u80fd\u91cf\u51fd\u6570V(x)<\/p>\n
13-\u4e0d\u53d8\u6027\u539f\u7406\n<\/h3>

\n\u5bf9Lyapunov\u7684\u7a33\u5b9a\u6027\u5224\u5b9a\u5206\u4e86\u5f88\u591a\u7684\u7c7b\uff0c\u62bd\u65f6\u95f4\u518d\u6574\u7406\u4e00\u4e0b\u3002<\/p>\n
14-\u975e\u7ebf\u6027\u7a33\u5b9a\u6027\u8bbe\u8ba1\n<\/h3>

\n\u8bbe\u8ba1\u5982\u4e0b\u7684\u975e\u7ebf\u6027\u7cfb\u7edf\u3002 
\n
\n\u5c06\u4e09\u79cdu\u7684\u5904\u7406\u65b9\u5f0f\u6574\u5408\u6210\u4e09\u4e2a\u5b50\u7cfb\u7edf\u3002 
\n1 \u76f4\u63a5\u7ebf\u6027\u5316\u5904\u7406\u3002 2 \u674e\u96c5\u666e\u8bfa\u592b\u76f4\u63a5\u6cd5\u8bbe\u8ba1  3 \u674e\u96c5\u666e\u8bfa\u592b\u76f4\u63a5\u6cd5\u76f4\u63a5\u6d88\u9664\u975eND\u9879\u3002 
\n
\n\u8bbe\u5b9a\u4eff\u771f\u65f6\u95f410s\uff0cx\u521d\u59cb\u503c\u4e3a10\uff1b 
\n\u8f93\u51fa\u72b6\u6001\u53d8\u91cf\u4e3a\u53f3\u56fe\u6240\u793a\uff0c\u8f93\u5165\u4e3a\u5de6\u56fe\u6240\u793a\u3002 
\n1\u9ec4\u8272\u7ebf\u6761 \u76f4\u63a5\u7ebf\u6027\u5316\u5904\u7406\u3002 2\u6a59\u8272\u7ebf\u6761 \u674e\u96c5\u666e\u8bfa\u592b\u76f4\u63a5\u6cd5\u8bbe\u8ba1  3\u84dd\u8272\u7ebf\u6761 \u674e\u96c5\u666e\u8bfa\u592b\u76f4\u63a5\u6cd5\u76f4\u63a5\u6d88\u9664\u975eND\u9879\u3002\n
\n\u53ef\u4ee5\u770b\u5230\u76f4\u63a5\u7ebf\u6027\u5316\u5904\u7406\u7684\u65b9\u5f0f\u7b80\u5355\u7c97\u66b4\uff0c\u56e0\u4e3a\u8f93\u5165\u5b58\u5728x\u7684\u4e09\u6b21\u65b9\u6240\u4ee5\u5bfc\u81f4\u5f00\u59cb\u65f6\u8f93\u5165\u503c\u975e\u5e38\u5927\u3002\u8fd9\u662f\u96be\u4ee5\u5b9e\u73b0\u7684\u3002 
\n\u5bf9\u4e8e\u674e\u96c5\u666e\u8bfa\u592b\u76f4\u63a5\u6cd5\u8bbe\u8ba1\u7684\u8f93\u5165\u4ee5\u53ca\u8f93\u51fa\u8f83\u4e3a\u5408\u7406\u3002 
\n\u674e\u96c5\u666e\u8bfa\u592b\u5206\u6790\u540e\u76f4\u63a5\u6d88\u9664\u975eND\u9879\u7684\u505a\u6cd5\u8f83\u76f4\u63a5\u7ebf\u6027\u5316\u5904\u7406\u6709\u4e00\u5b9a\u4f18\u52bf\uff0c\u4f46\u662f\u7a33\u6001\u6548\u679c\u4e0d\u597d\u3002<\/p>\n
15-\u975e\u7ebf\u6027\u53cd\u6b65\u6cd5\u8bbe\u8ba1-Important\n<\/h3>
\u53cd\u6b65\u6cd5\u8bbe\u8ba1\u53ef\u4ee5\u8bf4\u662f\u975e\u7ebf\u6027\u94fe\u5f0f\u7cfb\u7edf<\/strong>\u7684\u901a\u7528\u8bbe\u8ba1\u65b9\u6cd5\u3002 
\n\u5982\u4e0b\u56fe\uff0c\u8f93\u5165\u53ef\u4ee5\u76f4\u63a5\u63a7\u5236X2\u7684\u72b6\u6001\uff0c\u4f46\u662f\u8f93\u5165\u65e0\u6cd5\u76f4\u63a5\u5f71\u54cd\u72b6\u6001X1\u3002  
\n
\n\u5bf9\u4e24\u4e2a\u5f15\u5165\u7684\u72b6\u6001\u8fdb\u884c\u7a33\u5b9a\u6027\u5206\u6790\u3002 
\n
\nDr.Can\u8bbe\u8ba1\u7684Simulink\u4eff\u771f\u6a21\u578b\u3002 
\n
\n\u5bf9\u4f8b\u9898\u8fdb\u884c\u5206\u6790 
\n 
\n<\/p>\n
16-\u975e\u7ebf\u6027\u81ea\u9002\u5e94\u63a7\u5236\u5668\n<\/h3>
\u81ea\u8ba4\u4e3a\u7684\u81ea\u9002\u5e94\u63a7\u5236\u5668\u7b80\u5316\u8bbe\u8ba1\u6b65\u9aa4\uff1a 
\n\u81ea\u9002\u5e94\u63a7\u5236\u5668\u662f\u5904\u7406a\u53c2\u6570\u672a\u77e5\u7684\u60c5\u51b5\u3002\u901a\u8fc7\u8bbe\u8ba1\u4e00\u4e2a\u4f30\u8ba1\u503c\uff0c\u518d\u5f15\u5165\u4f30\u8ba1\u8bef\u5dee\u3002 
\n\u4f30\u8ba1\u8bef\u5dee\u7684\u5bfc\u6570\u56e0\u4e3aa\u53c2\u6570\u7f13\u6162\u53d8\u5316\uff0c\u6240\u4ee5a\u7684\u5bfc\u6570\u4e3a0\u3002\u4f46\u662f\u4e0d\u7981\u8ba9\u4eba\u601d\u8003a\u53d8\u5316\u8fc5\u901f\u7684\u65f6\u5019\u5462\uff1f    
\n\u5bf9\u4f30\u8ba1\u8bef\u5dee\u4e0e\u539f\u672c\u63a7\u5236\u8bef\u5dee\u8fdb\u884c\u8054\u5408Lyapunov\u7a33\u5b9a\u884c\u4e3a\u5206\u6790\u3002\u8bbe\u8ba1u\u4f7f\u5f97\u674e\u51fd\u6570\u7684\u5bfc\u6570\u4e3aND\u3002   
\n\u5728\u4e4b\u524d\u8ba4\u4e3aa\u53c2\u6570\u5df2\u77e5\u7684\u53cd\u9988\u7ebf\u6027\u5316\u7684\u8bbe\u8ba1\u8fc7\u7a0b\u4e2d\uff0c\u628aa\u6362\u4e3aa\u7684\u4f30\u8ba1\u503c\uff0c\u5e26\u5165\u5230u\u4e2d\u3002<\/p>\n
\u5904\u7406\u8054\u5408\u7684\u674e\u51fd\u6570\uff0c\u901a\u8fc7\u8bbe\u8ba1a\u7684\u4f30\u8ba1\u4f7f\u5f97\u96be\u4ee5\u8d1f\u5b9a\u7684\u9879\u4e3a0\u3002\u5f97\u5230a\u4f30\u8ba1\u7684\u5bfc\u7684Hope\u503c\u3002 
\n\u6b64\u65f6\u628aa\u79ef\u5206\uff0c\u518d\u5e26\u56de\u53cd\u9988\u7cfb\u7edf\u7ebf\u6027\u5316\u8bbe\u8ba1\u7684u\u3002\u8bbe\u8ba1\u5b8c\u6210\u3002  
\n\uff08\u8c8c\u4f3c\u8fd9\u4e9b\u8bbe\u8ba1\u7684\u6b65\u9aa4\u90fd\u662f\u901a\u7528\u7684\uff0c\u90fd\u7c7b\u4f3c\u53cd\u6b65\u6cd5\u7684\u8bbe\u8ba1\u6b65\u9aa4\uff09<\/p>\n
\u6b64\u65f6\u8054\u5408\u674e\u51fd\u6570\u662fNSD\u7684\u3002\u4e0d\u80fd\u8bf4a\u4f30\u8ba1\u548ce\u8d8b\u8fd1\u4e8e0\uff0c\u53ea\u80fd\u8bf4\u4ed6\u4eec\u662f\u7a33\u5b9a\u7684\u3002<\/strong>  
\n\u9700\u8981\u5f15\u5165Lyapunov-like lemma\u3002\u8bc1\u660e\u4e00\u4e0b\u3002<\/p>\n
 
\n\u53c2\u8003DrCan\u4ee5\u53ca\u5176\u4ed6\u5b66\u5458\u5206\u4eab\u7684Simulink\u8bbe\u8ba1\uff0c\u8bbe\u8ba1\u5982\u4e0b\u7684\u7cfb\u7edf\u3002     
\n  
\nXd\u6539\u4e3a\u53d8\u5316\u91cf\uff0ca\u6539\u4e3a\u53d8\u5316\u91cf\u3002\u5728k\u7b49\u4e8e20\u7684\u60c5\u51b5\u4e0b\u8ddf\u8e2a\u6027\u80fd\u4e5f\u8fd8\u884c\u3002<\/p>\n
k\u592a\u5c0f\u4e0d\u884c\u3002k\u5c0f\u7684\u65f6\u5019x\u6839\u672c\u65e0\u6cd5\u5b8c\u6210\u8ddf\u8e2a\u3002k\u5fc5\u987b\u5f88\u5927\u624d\u80fd\u5f88\u597d\u7684\u8ddf\u8e2a\u3002\n\u4f46\u662fk\u592a\u5927\u7684\u8bdd\u4f1a\u5bfc\u81f4u\u53d8\u5f97\u5341\u5206\u7684\u62bd\u8c61\uff0c\u663e\u7136\u662f\u96be\u4ee5\u5b9e\u73b0u\u7684\u8f93\u51fa \u4e0d\u7b26\u5408\u5b9e\u9645\u5de5\u7a0b\u7684\u8fd0\u7528\u3002  
\n\u4e0b\u56fe\u4e3ak\u4e3a20\u7684\u8ddf\u8e2a\u60c5\u51b5\uff0c\u611f\u89c9\u5df2\u7ecf\u975e\u5e38\u4e0d\u9519\u4e86\uff01     
\n 
\n\u4e0b\u56fe\u4e3ak\u4e3a20\u7684\u8f93\u5165u\u7684\u60c5\u51b5\u3002\u53ef\u4ee5\u770b\u5230\u5df2\u7ecf\u6709\u70b9\u62bd\u8c61\u4e86\uff0c\u5e45\u5ea6\u8de8\u5ea6\u5f88\u5927\u3002\u4e5f\u53ef\u80fd\u662f\u6211\u8fd9\u4e2a\u7cfb\u7edf\u7684a\u53d8\u5316\u5e45\u5ea6\u592a\u5927\uff0c\u4ee5\u53ca\u76ee\u6807\u503c\u592a\u8fc7\u82db\u523b\u3002\u4e0d\u77e5\u9053\u5b9e\u9645\u5de5\u7a0b\u4e2d\u7684\u4f7f\u7528\u60c5\u51b5\u662f\u5982\u4f55\u7684\uff1f      
\n<\/p>\n
\u8bfe\u540e\u9898\uff1a\u5bf9\u7ecf\u5178\u5f39\u7c27\u7cfb\u7edf\u8fdb\u884c\u975e\u7ebf\u6027\u81ea\u9002\u5e94\u63a7\u5236\u5668\u7684\u8bbe\u8ba1\n\u81ea\u5df1\u505a\u7684\u6709\u70b9\u9519\u8bef 
\n\u6807\u51c6\u7b54\u6848\u5982\u4e0b\u56fe\u7247 
\n<\/p>\n
17-\u975e\u7ebf\u6027\u9c81\u68d2\u63a7\u5236\u5668\n<\/h3>
\u9c81\u68d2\u63a7\u5236\u76f8\u5173\u53ef\u4ee5\u770b\u5c71\u4e1c\u79d1\u6280\u5927\u5b66\u7684\u5468\u514b\u654f\u6559\u6388\u89c6\u9891\uff1ahttps:\/\/space.bilibili.com\/615075414<\/p>\n
17-1 \u6ed1\u819c\u63a7\u5236\u5668\n<\/h4>

\n\u8fd9\u91cc\u6ed1\u6a21\u63a7\u5236\u7684\u5f62\u5f0f\u5c31\u662f\u4f7f\u5f97 
\n$$\nu=ke+\\dot{x}_d+\\rho \\frac{\\left| e \\right|}{e}\n$$\n\u800ce\u7684\u9879\u662f\u4e00\u4e2a\u7c7b\u4f3c\u7b26\u53f7\u51fd\u6570sgn(e)\u7684\u4e1c\u897f\u3002<\/strong>
\n\u800c$\\rho$\u662f\u4e00\u4e2a\u5927\u4e8efx\u7684\u7edd\u5bf9\u503c\u7684\u4e00\u4e2a\u51fd\u6570\u3002<\/strong> 
\n\u5c06u\u7684\u5f62\u5f0f\u4ee3\u56de\u5230e\u5bfc\u4e2d\uff0c\u753b\u51fae\u548ce\u5bfc\u7684\u72b6\u6001\u56fe\u76f8\u8f68\u8ff9\u3002\u53ef\u4ee5\u770b\u5230\u4e00\u4e2a\u9762-\u6ed1\u6a21\u9762\uff0c\u7cfb\u7edf\u72b6\u6001\u5c31\u5728\u8fd9\u4e2a\u9762\u4e0a\u8d8b\u8fd1\u4e8e0\u3002  
\n\u90e8\u5206\u6458\u81ea\uff1a\u6ed1\u819c\u63a7\u5236\u7684\u7b80\u5355\u7406\u89e3-\u77e5\u4e4e<\/a>   
\n\u4e0a\u56fe\u53f3\u4fa7\u662f\u8bc1\u660e\u8fc7\u7a0b\uff0c\u5728\u6b64\u7528\u5230\u4e86\u4e00\u4e2a\u6570\u5b66\u624b\u6cd5\uff0c\u5bf9\u5fae\u5206\u65b9\u7a0b\u7684\u4e0d\u7b49\u5f0f\u7684\u8bc1\u660e\uff0c\u5f15\u5165\u4e86\u4e00\u4e2a\u677e\u5f1b\u53d8\u91cf\u6765\u53d8\u4e3a\u7b49\u5f0f\u3002\u6700\u7ec8\u901a\u8fc7\u5fae\u5206\u65b9\u7a0b\u7684\u901a\u89e3\u7684\u65b9\u5f0f\u89e3\u51fa\u674e\u51fd\u6570\u5728\u7ecf\u8fc7\u653e\u7f29\uff0c\u5f97\u51fa\u674e\u51fd\u6570\u5c0f\u4e8e\u67d0\u503c\u3002       
\n\u63a5\u7740\u5c06\u674e\u51fd\u6570\u53cd\u5e26\u56de\u8fd9\u4e2a\u4e0d\u7b49\u5f0f<\/strong>\uff0c\u76f4\u63a5\u89e3\u51fae\u7684\u72b6\u6001\u662f\u5c0f\u4e8exx\u503c\u7684\uff0c\u6700\u540e\u5f97\u51fa\u8fd9\u4e2a\u72b6\u6001e\u662f\u6307\u6570\u6e10\u8fdb\u7a33\u5b9a\u7684\u3002\u8fd9\u4e2a\u8bc1\u660e\u624b\u6cd5\u786e\u5b9e\u5de7\u5999\u3002<\/p>\n
17-2 \u5176\u4ed6\u4e24\u79cd\u9c81\u68d2\u63a7\u5236 \u9ad8\u589e\u76ca\/\u9ad8\u9891\n<\/h4>
\u5728Drcan\u7684\u89c6\u9891\u4e2d\u89e3\u91ca\u9c81\u68d2\u63a7\u5236\u7684u\u901a\u5f0f\u90fd\u662f   
\n$$\nu=ke+\\dot{x}d+u<\/em>{aux}\n$$\n\u5176\u4e2d$u_{aux}$\u662f\u8f85\u52a9\u7528\u7684\u3002\u9488\u5bf9\u4e0d\u540c\u7684\u9c81\u68d2\u63a7\u5236\uff0c\u4ec5\u4ec5\u662f$u_{aux}$\u800c\u5df2\u4e0d\u540c\u3002  
\n\u4e0b\u56fe\u7ed9\u51fa\u4e86\u5176\u4ed6\u4e24\u79cd\u9c81\u68d2\u63a7\u5236\u7684$u_{aux}$\u5f62\u5f0f\u3002\u53e6\u5916\u7ed9\u51fa\u4e86\u8bc1\u660e\u8fc7\u7a0b\u3002\u90fd\u662f\u4e0e\u6ed1\u819c\u7684\u8bc1\u660e\u8fc7\u7a0b\u76f8\u4f3c\u7684\u8fc7\u7a0b\u3002\u53ef\u4ee5\u597d\u597d\u5b66\u4e60\u4e00\u4e0b\u3002 
\n\u53ef\u4ee5\u7b80\u5355\u7684\u7406\u89e3 \u9ad8\u589e\u76ca\u63a7\u5236\u65b9\u5f0f\u5c31\u662f\u4f7f\u7528\u8db3\u591f\u5927\u7684\u8f93\u5165\u53bb\u62b5\u6d88\u4e0d\u786e\u5b9a\u6027\u3002 
\n\u800c\u9ad8\u9891\u7684\u63a7\u5236\u65b9\u5f0f\u5c31\u662f\u6ed1\u819c\u7684\u4e00\u79cd\u53d8\u5f0f\uff0c\u901a\u8fc7\u8bbe\u7f6e\u53c2\u6570\u4f7f\u5f97\u5176\u76f8\u8f83\u4e8e\u6ed1\u6a21\u63a7\u5236\u66f4\u4e3a\u5e73\u548c\u3002  
\n  
\n 
\n\u4ee5\u4e0b\u662f\u5bf9\u4e09\u79cd\u63a7\u5236\u65b9\u5f0f\u8fdb\u884c\u5efa\u6a21\u5206\u6790\u3002\u5bf9\u6ed1\u819c\u63a7\u5236\u5206\u4e00\u4e2a\u5b50\u7cfb\u7edf\uff0c\u5bf9\u5176\u4ed6\u4e24\u79cd\u5206\u522b\u4e0d\u540c\u7684\u53c2\u6570\u5927\u5c0f\u5206\u522b\u8bbe\u7f6e4\u4e2a\u5b50\u7cfb\u7edf\u5982\u4e0b\u56fe\uff1a  
\n 
\n\u8fd0\u884c\u7ed3\u679c\uff1a<\/p>\n
\u9996\u5148\u662f\u56db\u4e2a\u7cfb\u7edf\u7684\u8bef\u5dee\u6d88\u9664\u60c5\u51b5\u5982\u4e0b\u56fe\uff1a
\n 
\n\u63a5\u7740\u662f\u56db\u4e2a\u7cfb\u7edf\u7684\u8f93\u5165\u60c5\u51b5\uff1a  
\n 
\n\u5206\u6790\uff1a   
\n\u6ed1\u819c\uff1a\u8f93\u5165\u6781\u4e3a\u62bd\u8c61\uff0c\u63a7\u5236\u6548\u679c\u4e2d\u89c4\u4e2d\u77e9\u3002    
\n\u9ad8\u589e\u76ca0.1\uff1a\u8f93\u5165\u5728\u5f00\u59cb\u65f6\u5f88\u5927\uff0c\u5f88\u62bd\u8c61\uff0c\u4f46\u540e\u7eed\u5f88\u5e73\u6ed1\uff0c\u6536\u655b\u901f\u5ea6\u4e5f\u6700\u5feb\u3002    
\n\u9ad8\u589e\u76ca1\uff1a\u90fd\u5dee\u4e0d\u591a\u3002\n\u9ad8\u98910.1\uff1a\u90fd\u5dee\u4e0d\u591a\u3002   
\n\u9ad8\u98911\uff1a\u90fd\u5dee\u4e0d\u591a\uff0c\u6536\u655b\u6548\u679c\u6700\u5dee\u3002<\/p>\n"},{"title":"Hugo\u535a\u5ba2\u7684\u4e2a\u4ebagit\u90e8\u7f72\u5de5\u4f5c\u6d41","link":"https:\/\/a233a2.github.io\/p\/hugo%E5%8D%9A%E5%AE%A2%E7%9A%84%E4%B8%AA%E4%BA%BAgit%E9%83%A8%E7%BD%B2%E5%B7%A5%E4%BD%9C%E6%B5%81\/","pubDate":"Mon, 14 Oct 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/hugo%E5%8D%9A%E5%AE%A2%E7%9A%84%E4%B8%AA%E4%BA%BAgit%E9%83%A8%E7%BD%B2%E5%B7%A5%E4%BD%9C%E6%B5%81\/","description":"
Hugo\u535a\u5ba2\u7684\u4e2a\u4ebagit\u90e8\u7f72\u5de5\u4f5c\u6d41\n<\/h3>
\u81ea\u52a8\u90e8\u7f72BAT\u6587\u4ef6   (Auto Push)\n<\/h4>
\n
\n
 1\n<\/span> 2\n<\/span> 3\n<\/span> 4\n<\/span> 5\n<\/span> 6\n<\/span> 7\n<\/span> 8\n<\/span> 9\n<\/span>10\n<\/span>11\n<\/span>12\n<\/span>13\n<\/span>14\n<\/span>15\n<\/span>16\n<\/span>17\n<\/span>18\n<\/span><\/code><\/pre><\/td>\n
\n
@echo off\n<\/span><\/span>::\u83b7\u53d6\u5f53\u524d\u811a\u672c\u8def\u5f84\n<\/span><\/span>cd \/d %~dp0\n<\/span><\/span>::\u81ea\u52a8\u63d0\u4ea4\n<\/span><\/span>git init \n<\/span><\/span>git add .\n<\/span><\/span>git commit -m "Auto Push:%date:~10%,time:~0,8%"\n<\/span><\/span>:: git commit -m\n<\/span><\/span>git push origin main -f\n<\/span><\/span>@echo \u5df2\u5b8c\u6210\n<\/span><\/span>\n<\/span><\/span>SET daoTime=60\n<\/span><\/span>:dao\n<\/span><\/span>set \/a daoTime=daoTime-1\n<\/span><\/span>ping -n 2 -w 500 127.1>\n<\/span><\/span>cls\n<\/span><\/span>echo \u4e0a\u4f20git\u5b8c\u6210\uff0c\u5012\u8ba1\u65f6\u9000\u51fa\uff1a%daoTime%\u79d2\n<\/span><\/span>if%daoTime%==0 (exit0) else (goto dao)\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
Git\u5408\u5e76\u5206\u652f(\u591a\u7aef\u534f\u4f5c\u4f7f\u7528)\n<\/h4>
\u6bcf\u6b21\u8fdb\u884c\u5199\u535a\u5ba2\u65f6\uff0c\u90fd\u9700\u8981\u8fdb\u884cpull\u64cd\u4f5c\u3002<\/p>\n
\n
\n
1\n<\/span>2\n<\/span><\/code><\/pre><\/td>\n
\n
git reset --hard    \/\/\u5728\u9700\u8981\u5408\u5e76\u7684\u672c\u5730\u6709\u4fee\u6539\u5bfc\u81f4\u51b2\u7a81\u65f6 \u4f7f\u7528\u6b64\u8bed\u53e5\u3002\n<\/span><\/span>git pull origin main\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u89e3\u51b3Push\u4ee5\u53caPull\u8d85\u65f6\u9519\u8bef\u7684\u95ee\u9898\n<\/h4>
\u65b9\u6cd5\uff1a\u5c06\u4ee3\u7406\u7aef\u53e3\u4e0eGit\u7aef\u53e3\u8bbe\u7f6e\u4e3a\u4e00\u81f4\u5373\u53ef
\n\u672c\u673a\u4ee3\u7406\u8bbe\u7f6e\u5982\u4e0b\u6240\u793a\uff1a
\n<\/p>\n
\u4e4b\u540e\u5c06Git\u914d\u7f6e\u4e3a\u4e00\u81f4\u7684\u7aef\u53e3\u53f7\u4ee5\u53ca\u5730\u5740\uff1a<\/p>\n
\n
\n
1\n<\/span>2\n<\/span><\/code><\/pre><\/td>\n
\n
git config --global http.proxy http:\/\/127.0.0.1:7890\n<\/span><\/span>git config --global https.proxy http:\/\/127.0.0.1:7890\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
2024-11-14\u9519\u8bef\u8bb0\u5f55\n<\/h4>
\u5f15\u7528gif\u6587\u4ef6\u65f6\uff0c\u51fa\u73b0\u7f16\u8bd1\u9519\u8bef\uff1a\u914d\u7f6e\u9879\u88ab\u5f03\u7528\u4ee5\u53ca\u4e3b\u9898\u6a21\u677f\u4e2d\u53ef\u80fd\u5b58\u5728\u7684\u65e0\u9650\u9012\u5f52\u95ee\u9898 
\n\u4f7f\u7528\u5230\u7684\u5f15\u7528\u683c\u5f0f\uff1a! [ASD] (ASD.GIF)  
\n      
\n\u66f4\u6362HTML\u6807\u7b7e\u6e32\u67d3\u540e\u95ee\u9898\u89e3\u51b3\u3002<\/p>\n
\n
\n
1\n<\/span><\/code><\/pre><\/td>\n
\n
<img src="\u8def\u5f84\/\u6587\u4ef6\u540d.gif" alt="\u63cf\u8ff0\u6587\u5b57" width="500" height="auto">\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u5206\u6790\uff1a\u53ef\u80fd\u662f\u8fd9\u4e2a\u4e3b\u9898\u4e0d\u652f\u6301GIF\uff1f\uff1f\uff1f<\/p>\n
\u89e3\u51b3\u7f51\u7ad9\u57df\u540d\u8f6c\u53d1\u65f6\u81ea\u52a8\u90e8\u7f72\u5220\u9664CNAME\u6587\u4ef6\u7684\u95ee\u9898\n<\/h4>
\u5728\u7f51\u7ad9\u57df\u540d\u8f6c\u53d1\u65f6\uff0c\u5728github.io\u8fd9\u4e2a\u5de5\u7a0b\u4ed3\u5e93\u4e0b\u521b\u5efa\u4e86CNAME\u6587\u4ef6\uff0c\u4f46\u662f\u6bcf\u6b21\u90e8\u7f72\u7f51\u7ad9\u90fd\u4f1a\u81ea\u52a8\u7684\u5220\u9664\u6389\u3002\u8fd9\u4f7f\u5f97\u6211\u7684\u7f51\u7ad9\u65e0\u6cd5\u6253\u5f00\u3002
\n\u6700\u540e\u5c06CNAME\u6587\u4ef6\u653e\u5230\u4e86\u7f51\u7ad9\u6587\u4ef6\u5939\u76ee\u5f55\u4e0b\u7684static\u6587\u4ef6\u4e0b\u3002\u91cd\u65b0\u4e0a\u4f20\u540eCNAME\u6587\u4ef6\u4fbf\u4e00\u76f4\u90fd\u5728\u4e86\u3002<\/p>\n
\u57fa\u4e8eHugo-GithubPages\u7684\u65b0\u7ad9\u5efa\u7ad9\u8bb0\u5f55\n<\/h3>
\u9996\u5148\u4e0b\u8f7dHugo\n 
\nhugo\u76ee\u5f55\u4e0b\uff0c\u4f7f\u7528Hugo new site name<\/code>\u547d\u4ee4\uff0c\u521b\u5efa\u4e00\u4e2aHugo\u7ad9\u70b9\u6587\u4ef6\u5939\u3002
\n\u6784\u5efa\u5b8c\u6210\u540e\uff0chugo\u63d0\u793a\u4e86\u63a5\u4e0b\u6765\u7684\u4efb\u52a1\u3002\u9996\u5148\u5c31\u662f\u66f4\u6362\u76ee\u5f55\u3002 
\n 
\n\u521b\u5efa\u5b8c\u540e\uff0c\u5e94\u8be5\u662f\u5982\u4e0b\u7684\u5185\u5bb9\u7ed3\u6784\u3002\u8fd9\u4e2a\u76ee\u5f55\u4e0b\u7f3a\u5c11hugo.exe\uff0c\u6211\u4eec\u590d\u5236\u4e00\u4e2a\u8fdb\u6765\u3002  
\n 
\n\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\uff0c\u6765\u6784\u5efa\u7f51\u7ad9\u3002\u8fd9\u91cc\u6ca1\u6709\u4e3b\u9898\uff0c\u6784\u5efa\u5b8c\u540e\u5e94\u8be5\u662f\u4ec0\u4e48\u90fd\u6ca1\u6709\u3002  
\n<\/p>\n
\u9009\u62e9\u4e00\u4e2a\u4e3b\u9898\uff0c\u8fd9\u91cc\u6211\u9009\u62e9\u4e0b\u56fe\u8fd9\u4e2a\u4e3b\u9898\u3002
\n 
\n\u4e3b\u9898\u4e0b\u8f7d\u5230\u672c\u5730\u6587\u4ef6\uff0chugo\u4e2d\u8fd9\u4e2athemes\u76ee\u5f55\u4e0b\u3002 
\n<\/p>\n
\u8fd9\u91cc\u662f\u7f51\u7ad9\u6587\u7ae0<\/strong>\u7684\u4e3b\u8981\u5b58\u653e\u6587\u4ef6\uff0c\u6211\u4eec\u9700\u8981\u628a\u8fd9\u4e24\u4e2a\u590d\u5236\u51fa\u6765\u3002\u590d\u5236\u5230dev\u76ee\u5f55\u4e0b\u3002 
\ntoml\u6587\u4ef6\u4e3a\u4e3b\u9898\u7684\u4e3b\u8981\u8bbe\u7f6e\u6587\u4ef6\uff0c\u6709\u7684\u4e3b\u9898\u4e2d\u4e3ayaml\u6587\u4ef6\u3002 content\u4e3a\u6587\u7ae0\u7684\u5185\u5bb9\u3002  
\n 
\n\u9700\u8981\u6ce8\u610f\u4e0b\uff0ctoml\u8bbe\u7f6e\u6587\u4ef6\u4e2d\uff0c\u4e3b\u9898\u7684\u540d\u5b57\u9700\u8981\u548cthemes\u76ee\u5f55\u4e0b\u8fd9\u4e2a\u6587\u4ef6\u4e00\u6837\uff0c\u6240\u4ee5\u6211\u4eec\u6539\u4e00\u4e0b\u8ba9\u8fd9\u4e24\u4e2a\u5730\u65b9\u540d\u5b57\u4e00\u81f4\u5373\u53ef\u3002  
\n 
\n<\/p>\n
\u73b0\u5728\u521b\u5efa\u4e00\u4e2a\u4ed3\u5e93\uff0c\u7528\u6765\u5b58\u653edev\u4e3b\u76ee\u5f55\u4e0b\u7684\u6587\u4ef6\u3002\u8fd9\u4e2a\u6700\u597d\u8bbe\u7f6e\u4e3aPrivate\u79c1\u4eba\u4ed3\u5e93\u3002     
\n\u518d\u521b\u5efa\u4e00\u4e2a\u4ed3\u5e93\uff0c\u7528\u6765\u5b58\u653edev\\public\u4e0b\u7684\u6784\u5efa\u5b8c\u540e\u7684\u7f51\u7ad9\u6587\u4ef6\u3002\u8fd9\u4e2a\u53ef\u4ee5\u521b\u5efa\u4e3aPublic\u516c\u5f00\u3002     
\n\u6211\u521b\u5efa\u7684\u5982\u4e0b\uff1a 
\n 
\n\u8fd9\u91cc\u6211\u4e24\u4e2a\u7f51\u7ad9\u5408\u5e76\u5230\u4e00\u4e2a\u4e3b\u76ee\u5f55\u4e0b\u4e86\u3002 
\n<\/p>\n
hugo\u4e3b\u76ee\u5f55\u4e0b \u8bbe\u7f6e\u4e00\u4e0b\u522b\u90fd\u4e0a\u4f20\u3002 
\n<\/p>\n
\u8fd9\u91cc\u624b\u52a8PUSH\u4e00\u4e0b\u3002\u628a\u4e24\u4e2a\u4ed3\u5e93\u5148\u63a8\u4e0a\u53bb\u8bd5\u8bd5\u3002\u63a8\u4e4b\u524d\u6700\u597d\u672c\u5730hugo server -D <\/code>\u6784\u5efa\u4e00\u4e0b\u8bd5\u8bd5\uff0c\u5148\u80fd\u6784\u5efa\u51fa\u6765\u3002      
\n<\/p>\n
\u81ea\u7528-Push\u672c\u5730\u9879\u76ee\u6587\u4ef6\u5230\u4e00\u4e2a\u65b0\u5efa\u7684\u7a7a\u4ed3\u5e93\n<\/h3>
\u8d77\u56e0\u662f\u81ea\u5df1\u7528win\u7684git push\u4e00\u4e2a\u5de5\u7a0b\u65f6\u9047\u5230\u592a\u591a\u95ee\u9898\uff0c\u6545\u5199\u4e00\u4e2a\u81ea\u5df1\u7528\u7684\u9519\u8bef\u89e3\u51b3\u8def\u5f84\u5728\u8fd9\u91cc\u7ed9\u81ea\u5df1\u7528\u3002<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span><\/code><\/pre><\/td>\n
\n
git init    \n<\/span><\/span>git add .   \n<\/span><\/span>git commit -m "first commit"<\/span>   \n<\/span><\/span>git remote add origin \u4f60\u7684\u94fe\u63a5github.com\/\/\/   \n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
git push -u origin main<\/code>
\n\u6b64\u65f6 \u9519\u8bef \u53ef\u80fd\u662f\u672c\u5730master\u5bf9\u4e0d\u4e0a\u8fdc\u7a0b\u4ed3\u5e93\u7684main
\n\u8fd0\u884cgit branch -m master main<\/code> \u672c\u5730\u7684master\u6539\u540d\u4e3amain
\n\u7ee7\u7eedgit push -u origin main<\/code>\u6b64\u65f6\u4ecd\u7136\u9519\u8bef\uff0c\u53ef\u80fd\u662f\u672c\u5730\u6709\u6587\u4ef6\uff0c\u8fdc\u7a0b\u4ed3\u5e93\u4e5f\u6709\u70b9\u6587\u4ef6\uff0c\u5386\u53f2\u5bf9\u4e0d\u4e0a\u53bb\u3002
\n\u6211\u4eec\u5148Pull\u4e00\u4e0b,\u518dPush\u3002<\/p>\n
\n
\n
1\n<\/span>2\n<\/span><\/code><\/pre><\/td>\n
\n
git pull origin main --allow-unrelated-histories\n<\/span><\/span>git push -u origin main\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u6211\u8fd1\u671f\u624b\u52a8\u66f4\u65b0\u4e86git \u5230\u4e862.48.1 \u4e4b\u524d\u662f2.47.1<\/p>\n"},{"title":"FreeRTOS\u5c0f\u8bb0","link":"https:\/\/a233a2.github.io\/p\/freertos%E5%B0%8F%E8%AE%B0\/","pubDate":"Wed, 18 Sep 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/freertos%E5%B0%8F%E8%AE%B0\/","description":"
FreeRTOS\n<\/h2>
FreeRTOS\u5728\u5d4c\u5165\u5f0f\u7684\u5f00\u53d1\u4e2d\u5341\u5206\u7684\u91cd\u8981\uff0c\u672c\u4eba\u4e4b\u524d\u5bf9\u4e8e\u540c\u4e00\u65f6\u95f4\u8fdb\u884c\u591a\u79cd\u4efb\u52a1\u7684\u505a\u6cd5\u666e\u904d\u90fd\u662f\u8bbe\u7f6e\u5b9a\u65f6\u5668\u4e2d\u65ad\u7a0b\u5e8f\u3002\u8fd9\u6837\u505a\u6216\u8bb8\u80fd\u89e3\u51b3\u71c3\u7709\u4e4b\u6025\uff0c\u4f46\u662f\u5728\u5927\u578b\u9879\u76ee\u4e2d\u4fbf\u6709\u4e00\u4e9b\u6349\u895f\u89c1\u8098\uff0c\u5c24\u5176\u662f\u4f7f\u7528\u8fd9\u79cd\u65b9\u5f0f\u5bf9\u4e8eMCU\u7684\u4efb\u52a1\u8c03\u5ea6\u5341\u5206\u7684\u4e0d\u660e\u786e\uff0c\u663e\u5f97\u5341\u5206\u7684\u4e71\u3002\u6545\u5bf9\u4e8eFreeRTOS\u8fd9\u79cdMCU\u64cd\u4f5c\u7cfb\u7edf\u7684\u5e94\u7528\u4fbf\u663e\u5f97\u5c24\u4e3a\u91cd\u8981\u3002\n\u5b98\u65b9\u6587\u6863\uff1ahttps:\/\/freertos.org\/zh-cn-cmn-s\/Documentation\/00-Overview<\/p>\n
FreeRTOS\u6838\u5fc3\u673a\u5236\n<\/h3>
\u4f18\u5148\u7ea7\u8c03\u5ea6<\/strong>\n\u9ad8\u4f18\u5148\u7ea7\u7684\u51c6\u5907\u5c31\u7eea\u540e\uff0c\u76f4\u63a5\u62a2\u5360CPU\u3002
\nFCFS(\u5148\u6765\u5148\u670d\u52a1)<\/strong>
\n\u540c\u4f18\u5148\u7ea7\uff0c\u6309\u7167\u51c6\u5907\u5c31\u7eea\u7684\u5148\u540e\u987a\u5e8f\u6267\u884c\u3002
\n\u65f6\u95f4\u7247\u8f6e\u8be2<\/strong>
\n\u6709\u76f8\u540c\u4f18\u5148\u7ea7\u7684\u4e24\u4e2a\u4efb\u52a1\uff0c\u5176\u4e2d\u4e00\u4e2a\u4e00\u76f4\u6ca1\u88ab\u62a2\u5360\uff0c\u5219\u8fd0\u884c\u65f6\u95f4\u8fbe\u5230\u4e00\u4e2a\u65f6\u95f4\u7247<\/strong>\u5219\u4e3b\u52a8\u8ba9\u51faCPU\u3002
\nps\uff1a\u4f4e\u4f18\u5148\u7ea7\u7684\u4efb\u52a1\u5bf9\u65f6\u95f4\u7684\u63a7\u5236\u8f83\u4e3a\u4e0d\u7cbe\u786e\u3002\u9ad8\u4f18\u5148\u7ea7\u7684\u4efb\u52a1\u53ef\u4ee5\u505a\u5230\u65f6\u95f4\u7cbe\u786e\u63a7\u5236\u3002<\/p>\n
FreeRTOS\u5ef6\u65f6\u51fd\u6570\n<\/h3>
vTaskDelay(ms);<\/strong>
\n\u5f53\u524d\u4efb\u52a1\u6682\u65f6\u6682\u505cxx ms\uff0c\u7a0b\u5e8f\u8fdb\u5165\u963b\u585e\u6001<\/strong>\uff0c\u5176\u4e2d\u6682\u65f6\u65f6\u95f4\u5185\u53ef\u4ee5\u6267\u884c\u5176\u4ed6\u4efb\u52a1\u3002
\nHAL_Delay(ms);<\/strong>
\nCPU\u6682\u65f6\u6302\u8d77xx ms\uff0c\u5565\u4e5f\u4e0d\u6267\u884c\u3002\u7c7b\u4f3c\u88f8\u673a\u8fd0\u884c\u65f6\u7684delay\u3002<\/p>\n
FreeRTOS\u7684\u90e8\u7f72\n<\/h3>
RT-Thread\n<\/h2>"},{"title":"KiCad\u5c0f\u8bb0","link":"https:\/\/a233a2.github.io\/p\/kicad%E5%B0%8F%E8%AE%B0\/","pubDate":"Mon, 16 Sep 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/kicad%E5%B0%8F%E8%AE%B0\/","description":"
KiCad\u5b66\u4e60\u65e5\u8bb0\n<\/h3>
\u5bfc\u51faGerber\u6587\u4ef6-JLC\u6253\u6837\n<\/h4>
1 \u5bfc\u51faGerber\u7684\u8bbe\u7f6e\uff1a\n<\/h4>
\u4eceb\u7ad9\u642c\u8fd0\uff1ahttps:\/\/www.bilibili.com\/read\/cv22773523\/?spm_id_from=333.976.0.0 
\n\uff08KiCAD\u8bbe\u8ba1\u4f7f\u7528\u7acb\u521b\u514d\u8d39\u6253\u6837\u7684\u65b9\u6cd5\u53caKiCAD\u63d2\u4ef6\uff09 
\n\u751f\u6210gerber\u6587\u4ef6
\n
\n\u751f\u6210\u94bb\u5b54\u6587\u4ef6
\n
\n\u751f\u6210\u7684gerber\u6587\u4ef6\u6700\u7ec8\u7ed3\u6784\u5982\u4e0b\uff1a
\n<\/p>\n
2 \u4fee\u6539Gerber\u6587\u4ef6\u4f7f\u5f97\u53ef\u5728JLC\u6253\u6837\n<\/h4>
\u521b\u5efa\u4e24\u4e2a\u6587\u4ef6  
\n<\/p>\n
\n
\n
1\n<\/span>2\n<\/span><\/code><\/pre><\/td>\n
\n
from .give_me_free_PCB import GiveMeFreePCB # Note the relative import!\n<\/span><\/span>GiveMeFreePCB().register() # Instantiate and register to Pcbnew\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\n
\n
  1\n<\/span>  2\n<\/span>  3\n<\/span>  4\n<\/span>  5\n<\/span>  6\n<\/span>  7\n<\/span>  8\n<\/span>  9\n<\/span> 10\n<\/span> 11\n<\/span> 12\n<\/span> 13\n<\/span> 14\n<\/span> 15\n<\/span> 16\n<\/span> 17\n<\/span> 18\n<\/span> 19\n<\/span> 20\n<\/span> 21\n<\/span> 22\n<\/span> 23\n<\/span> 24\n<\/span> 25\n<\/span> 26\n<\/span> 27\n<\/span> 28\n<\/span> 29\n<\/span> 30\n<\/span> 31\n<\/span> 32\n<\/span> 33\n<\/span> 34\n<\/span> 35\n<\/span> 36\n<\/span> 37\n<\/span> 38\n<\/span> 39\n<\/span> 40\n<\/span> 41\n<\/span> 42\n<\/span> 43\n<\/span> 44\n<\/span> 45\n<\/span> 46\n<\/span> 47\n<\/span> 48\n<\/span> 49\n<\/span> 50\n<\/span> 51\n<\/span> 52\n<\/span> 53\n<\/span> 54\n<\/span> 55\n<\/span> 56\n<\/span> 57\n<\/span> 58\n<\/span> 59\n<\/span> 60\n<\/span> 61\n<\/span> 62\n<\/span> 63\n<\/span> 64\n<\/span> 65\n<\/span> 66\n<\/span> 67\n<\/span> 68\n<\/span> 69\n<\/span> 70\n<\/span> 71\n<\/span> 72\n<\/span> 73\n<\/span> 74\n<\/span> 75\n<\/span> 76\n<\/span> 77\n<\/span> 78\n<\/span> 79\n<\/span> 80\n<\/span> 81\n<\/span> 82\n<\/span> 83\n<\/span> 84\n<\/span> 85\n<\/span> 86\n<\/span> 87\n<\/span> 88\n<\/span> 89\n<\/span> 90\n<\/span> 91\n<\/span> 92\n<\/span> 93\n<\/span> 94\n<\/span> 95\n<\/span> 96\n<\/span> 97\n<\/span> 98\n<\/span> 99\n<\/span>100\n<\/span>101\n<\/span>102\n<\/span>103\n<\/span>104\n<\/span>105\n<\/span>106\n<\/span>107\n<\/span>108\n<\/span>109\n<\/span>110\n<\/span>111\n<\/span>112\n<\/span>113\n<\/span>114\n<\/span>115\n<\/span>116\n<\/span>117\n<\/span>118\n<\/span>119\n<\/span>120\n<\/span>121\n<\/span>122\n<\/span>123\n<\/span>124\n<\/span>125\n<\/span>126\n<\/span>127\n<\/span>128\n<\/span>129\n<\/span>130\n<\/span>131\n<\/span>132\n<\/span>133\n<\/span>134\n<\/span>135\n<\/span>136\n<\/span>137\n<\/span>138\n<\/span>139\n<\/span>140\n<\/span>141\n<\/span>142\n<\/span><\/code><\/pre><\/td>\n
\n
import<\/span> pcbnew<\/span>\n<\/span><\/span>import<\/span> os<\/span>\n<\/span><\/span>import<\/span> shutil<\/span>\n<\/span><\/span>import<\/span> zipfile<\/span>\n<\/span><\/span>import<\/span> datetime<\/span>\n<\/span><\/span>\n<\/span><\/span># \u5de5\u7a0b\u76ee\u5f55\u4e0bGerber\u548c\u94bb\u5b54\u6587\u4ef6\u7684\u5b58\u653e\u4f4d\u7f6e<\/span>\n<\/span><\/span>path_out<\/span> =<\/span> "out"<\/span>\n<\/span><\/span># \u4e0b\u5355\u7528\u7684\u6587\u4ef6\u7684\u4f4d\u7f6e<\/span>\n<\/span><\/span>path_final<\/span> =<\/span> "out\/final"<\/span>\n<\/span><\/span>\n<\/span><\/span># \u7528\u4e8e\u68c0\u67e5\u6587\u4ef6\u662f\u5426\u4e3aGerber\u6587\u4ef6\u4ee5\u5224\u65ad\u662f\u5426\u8fdb\u884c\u66ff\u6362\u64cd\u4f5c<\/span>\n<\/span><\/span>file_filter<\/span> =<\/span> (<\/span>'.gbl'<\/span>,<\/span>'.gbs'<\/span>,<\/span>'.gbp'<\/span>,<\/span>'.gbo'<\/span>,<\/span>'.gm1'<\/span>,<\/span>'gm13'<\/span>,<\/span>\n<\/span><\/span>               '.gtl'<\/span>,<\/span>'.gts'<\/span>,<\/span>'.gtp'<\/span>,<\/span>'.gto'<\/span>,<\/span>'.drl'<\/span>,<\/span>'.G1'<\/span>,<\/span>\n<\/span><\/span>               '.G2'<\/span>,<\/span>'.gko'<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>jlc_header<\/span>=<\/span>"""G04 Layer: BottomSilkscreenLayer*\n<\/span><\/span><\/span>G04 EasyEDA v6.5.25, 2023-03-20 21:11:36*\n<\/span><\/span><\/span>**********************************\u81f3\u5c11\u8fd9\u4e00\u884c\u8981\u6362\u6210\u81ea\u5df1\u7684************************************\n<\/span><\/span><\/span>G04 Gerber Generator version 0.2*\n<\/span><\/span><\/span>G04 Scale: 100 percent, Rotated: No, Reflected: No *\n<\/span><\/span><\/span>G04 Dimensions in millimeters  *\n<\/span><\/span><\/span>G04 leading zeros omitted , absolute positions ,3 integer and 6 decimal *<\/span>\\n<\/span>"""<\/span>\n<\/span><\/span>\n<\/span><\/span># \u4e24\u5f20\u5bf9\u5e94\u8868\uff0c\u5206\u522b\u6839\u636e\u7ed3\u5c3e\u548c\u6587\u4ef6\u540d\u6765\u5224\u65ad\u8be5\u7ed9\u4ec0\u4e48\u751f\u6210\u7684\u6587\u4ef6\u4ec0\u4e48\u540d\u79f0<\/span>\n<\/span><\/span>replace_list_end<\/span> =<\/span> [(<\/span>'.gbl'<\/span>,<\/span>"Gerber_BottomLayer.GBL"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gko'<\/span>,<\/span>"Gerber_BoardOutlineLayer.GKO"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gbp'<\/span>,<\/span>"Gerber_BottomPasteMaskLayer.GBP"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gbo'<\/span>,<\/span>"Gerber_BottomSilkscreenLayer.GBO"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gbs'<\/span>,<\/span>"Gerber_BottomSolderMaskLayer.GBS"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gtl'<\/span>,<\/span>"Gerber_TopLayer.GTL"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gtp'<\/span>,<\/span>"Gerber_TopPasteMaskLayer.GTP"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gto'<\/span>,<\/span>"Gerber_TopSilkscreenLayer.GTO"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gts'<\/span>,<\/span>"Gerber_TopSolderMaskLayer.GTS"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gd1'<\/span>,<\/span>"Drill_Through.GD1"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gm1'<\/span>,<\/span>"Gerber_MechanicalLayer1.GM1"<\/span>),<\/span>\n<\/span><\/span>                    (<\/span>'.gm13'<\/span>,<\/span>"Gerber_MechanicalLayer13.GM13"<\/span>)]<\/span>\n<\/span><\/span>\n<\/span><\/span>replace_list_contain<\/span> =<\/span> [(<\/span>'_PCB-PTH'<\/span>,<\/span> "Drill_PTH_Through.DRL"<\/span>),<\/span>\n<\/span><\/span>                        (<\/span>'_PCB-NPTH'<\/span>,<\/span> "Drill_NPTH_Through.DRL"<\/span>),<\/span>\n<\/span><\/span>                        (<\/span>'-PTH'<\/span>,<\/span> "Drill_PTH_Through.DRL"<\/span>),<\/span>\n<\/span><\/span>                        (<\/span>'-NPTH'<\/span>,<\/span> "Drill_NPTH_Through.DRL"<\/span>),<\/span>\n<\/span><\/span>                        (<\/span>'_PCB-In1_Cu'<\/span>,<\/span> "Gerber_InnerLayer1.G1"<\/span>),<\/span>\n<\/span><\/span>                        (<\/span>'_PCB-In2_Cu'<\/span>,<\/span> "Gerber_InnerLayer2.G2"<\/span>),<\/span>\n<\/span><\/span>                        (<\/span>'_PCB-Edge_Cuts'<\/span>,<\/span> "Gerber_BoardOutlineLayer.GKO"<\/span>)]<\/span>\n<\/span><\/span>\n<\/span><\/span>def<\/span> zipFolder<\/span>(<\/span>folder_path<\/span>,<\/span> output_path<\/span>):<\/span>\n<\/span><\/span>    """\n<\/span><\/span><\/span>    \u538b\u7f29\u6307\u5b9a\u8def\u5f84\u4e0b\u7684\u6587\u4ef6\u5939\n<\/span><\/span><\/span>    :param folder_path: \u8981\u538b\u7f29\u7684\u6587\u4ef6\u5939\u8def\u5f84\n<\/span><\/span><\/span>    :param output_path: \u538b\u7f29\u6587\u4ef6\u7684\u8f93\u51fa\u8def\u5f84\n<\/span><\/span><\/span>    """<\/span>\n<\/span><\/span>    with<\/span> zipfile<\/span>.<\/span>ZipFile<\/span>(<\/span>output_path<\/span>,<\/span> "w"<\/span>,<\/span> zipfile<\/span>.<\/span>ZIP_DEFLATED<\/span>)<\/span> as<\/span> zip<\/span>:<\/span>\n<\/span><\/span>        for<\/span> root<\/span>,<\/span> dirs<\/span>,<\/span> files<\/span> in<\/span> os<\/span>.<\/span>walk<\/span>(<\/span>folder_path<\/span>):<\/span>\n<\/span><\/span>            for<\/span> file<\/span> in<\/span> files<\/span>:<\/span>\n<\/span><\/span>                file_path<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>root<\/span>,<\/span> file<\/span>)<\/span>\n<\/span><\/span>                zip<\/span>.<\/span>write<\/span>(<\/span>file_path<\/span>,<\/span> os<\/span>.<\/span>path<\/span>.<\/span>relpath<\/span>(<\/span>file_path<\/span>,<\/span> folder_path<\/span>))<\/span>\n<\/span><\/span>\n<\/span><\/span># \u8bfb\u53d6Gerber\u6587\u4ef6\u548c\u94bb\u5b54\u6587\u4ef6\uff0c\u4fee\u6539\u540d\u79f0\u5e76\u7ed9Gerber\u6587\u4ef6\u5185\u5bb9\u6dfb\u52a0\u8bc6\u522b\u5934\u540e\u5199\u5165\u5230\u8f93\u51fa\u6587\u4ef6\u5939<\/span>\n<\/span><\/span>def<\/span> fileTransform<\/span>(<\/span>filename<\/span>,<\/span> path_out<\/span>):<\/span>\n<\/span><\/span>    # \u6309\u884c\u8bfb\u53d6\u6587\u4ef6\u5185\u5bb9<\/span>\n<\/span><\/span>    lines<\/span> =<\/span> open<\/span>(<\/span>filename<\/span>)<\/span>.<\/span>readlines<\/span>()<\/span>\n<\/span><\/span>    # \u68c0\u67e5\u6587\u4ef6\u7c7b\u578b\u5e76\u7ed9\u65b0\u6587\u4ef6\u53d6\u597d\u76f8\u5e94\u7684\u540d\u79f0\uff0c\u5199\u5165\u8bc6\u522b\u5934\u548c\u539f\u6765\u7684\u6587\u4ef6\u5185\u5bb9<\/span>\n<\/span><\/span>    hit_flag<\/span> =<\/span> 0<\/span>\n<\/span><\/span>    for<\/span> replace_couple<\/span> in<\/span> replace_list_end<\/span>:<\/span>\n<\/span><\/span>        if<\/span> filename<\/span>.<\/span>endswith<\/span>(<\/span>replace_couple<\/span>[<\/span>0<\/span>]):<\/span>\n<\/span><\/span>            file_new<\/span> =<\/span> open<\/span>(<\/span>path_out<\/span> +<\/span> '\/'<\/span> +<\/span> replace_couple<\/span>[<\/span>1<\/span>],<\/span> 'w'<\/span>)<\/span>\n<\/span><\/span>            hit_flag<\/span> =<\/span> 1<\/span>\n<\/span><\/span>            break<\/span>\n<\/span><\/span>    if<\/span> hit_flag<\/span> ==<\/span> 0<\/span>:<\/span>\n<\/span><\/span>        for<\/span> replace_couple<\/span> in<\/span> replace_list_contain<\/span>:<\/span>\n<\/span><\/span>            if<\/span> filename<\/span>.<\/span>find<\/span>(<\/span>replace_couple<\/span>[<\/span>0<\/span>])<\/span> !=<\/span> -<\/span>1<\/span>:<\/span>\n<\/span><\/span>                file_new<\/span> =<\/span> open<\/span>(<\/span>path_out<\/span> +<\/span> '\/'<\/span> +<\/span> replace_couple<\/span>[<\/span>1<\/span>],<\/span> 'w'<\/span>)<\/span>\n<\/span><\/span>                hit_flag<\/span> =<\/span> 1<\/span>\n<\/span><\/span>                break<\/span>\n<\/span><\/span>\n<\/span><\/span>    if<\/span> hit_flag<\/span> ==<\/span> 1<\/span>:<\/span>\n<\/span><\/span>        hit_flag<\/span> =<\/span> 0<\/span>\n<\/span><\/span>        file_new<\/span>.<\/span>write<\/span>(<\/span>jlc_header<\/span>)<\/span>\n<\/span><\/span>        for<\/span> line<\/span> in<\/span> lines<\/span>:<\/span>\n<\/span><\/span>            file_new<\/span>.<\/span>write<\/span>(<\/span>line<\/span>)<\/span>\n<\/span><\/span>        file_new<\/span>.<\/span>close<\/span>()<\/span>\n<\/span><\/span>def<\/span> pathInit<\/span>(<\/span>path_out<\/span>):<\/span>\n<\/span><\/span>    # \u68c0\u67e5\u4e0b\u76ee\u5f55\u662f\u5426\u5b58\u5728\uff0c\u6ca1\u6709\u5c31\u521b\u5efa<\/span>\n<\/span><\/span>    folder_out<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>exists<\/span>(<\/span>path_out<\/span>)<\/span>\n<\/span><\/span>    if<\/span> not<\/span> folder_out<\/span>:<\/span>\n<\/span><\/span>        os<\/span>.<\/span>makedirs<\/span>(<\/span>path_out<\/span>)<\/span>\n<\/span><\/span>        print<\/span>(<\/span>"Folder <\/span>%s<\/span> created!"<\/span> %<\/span> path_out<\/span>)<\/span>\n<\/span><\/span>    else<\/span>:<\/span>\n<\/span><\/span>        print<\/span>(<\/span>"Folder <\/span>\\"<\/span>%s<\/span>\\"<\/span> already exists!"<\/span> %<\/span> path_out<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u6e05\u7a7a\u76ee\u5f55<\/span>\n<\/span><\/span>    for<\/span> files<\/span> in<\/span> os<\/span>.<\/span>listdir<\/span>(<\/span>path_out<\/span>):<\/span>\n<\/span><\/span>        path<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>path_out<\/span>,<\/span> files<\/span>)<\/span>\n<\/span><\/span>        try<\/span>:<\/span>\n<\/span><\/span>            shutil<\/span>.<\/span>rmtree<\/span>(<\/span>path<\/span>)<\/span>\n<\/span><\/span>        except<\/span> OSError<\/span>:<\/span>\n<\/span><\/span>            os<\/span>.<\/span>remove<\/span>(<\/span>path<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>    print<\/span>(<\/span>"Folder <\/span>\\"<\/span>%s<\/span>\\"<\/span> clean!"<\/span> %<\/span> path_out<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>class<\/span> GiveMeFreePCB<\/span>(<\/span>pcbnew<\/span>.<\/span>ActionPlugin<\/span>):<\/span>\n<\/span><\/span>    def<\/span> defaults<\/span>(<\/span>self<\/span>):<\/span>\n<\/span><\/span>        self<\/span>.<\/span>name<\/span> =<\/span> "Give me free PCB!"<\/span>\n<\/span><\/span>        self<\/span>.<\/span>category<\/span> =<\/span> "A descriptive category name"<\/span>\n<\/span><\/span>        self<\/span>.<\/span>description<\/span> =<\/span> "A description of the plugin"<\/span>\n<\/span><\/span>        self<\/span>.<\/span>show_toolbar_button<\/span> =<\/span> True<\/span> # Optional, defaults to False<\/span>\n<\/span><\/span>        self<\/span>.<\/span>icon_file_name<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>os<\/span>.<\/span>path<\/span>.<\/span>dirname<\/span>(<\/span>__file__<\/span>),<\/span> 'icon.png'<\/span>)<\/span> # Optional<\/span>\n<\/span><\/span>\n<\/span><\/span>    # \u5173\u4e8e\u8def\u5f84\uff0c\u5199\u7684\u662f\u5904\u7406\u5de5\u7a0b\u76ee\u5f55\u4e0bout\u76ee\u5f55\u91cc\u7684\u6587\u4ef6\uff0c<\/span>\n<\/span><\/span>    def<\/span> Run<\/span>(<\/span>self<\/span>):<\/span>\n<\/span><\/span>        # \u83b7\u53d6\u5f53\u524d\u5de5\u7a0b\u8def\u5f84<\/span>\n<\/span><\/span>        path_workdir<\/span> =<\/span> os<\/span>.<\/span>environ<\/span>.<\/span>get<\/span>(<\/span>'KIPRJMOD'<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>        # \u628a\u5de5\u7a0b\u6839\u76ee\u5f55\u8bbe\u4e3a\u5de5\u4f5c\u76ee\u5f55<\/span>\n<\/span><\/span>        os<\/span>.<\/span>chdir<\/span>(<\/span>path_workdir<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>        path_out_abs<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>os<\/span>.<\/span>getcwd<\/span>(),<\/span> path_out<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>        pathInit<\/span>(<\/span>os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>path_workdir<\/span>,<\/span> path_final<\/span>))<\/span>\n<\/span><\/span>\n<\/span><\/span>        file_count<\/span> =<\/span> 0<\/span>\n<\/span><\/span>\n<\/span><\/span>        path_files<\/span> =<\/span> os<\/span>.<\/span>listdir<\/span>(<\/span>os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>os<\/span>.<\/span>getcwd<\/span>(),<\/span> path_out<\/span>))<\/span>\n<\/span><\/span>\n<\/span><\/span>        # \u904d\u5386out\u76ee\u5f55\u4e0b\u7684\u6587\u4ef6\uff0c\u8bc6\u522b\u7c7b\u578b\u5e76\u8fdb\u884c\u76f8\u5e94\u7684\u5904\u7406<\/span>\n<\/span><\/span>        for<\/span> p<\/span> in<\/span> path_files<\/span>:<\/span>\n<\/span><\/span>            if<\/span>(<\/span>os<\/span>.<\/span>path<\/span>.<\/span>isfile<\/span>(<\/span>os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>path_out_abs<\/span>,<\/span> p<\/span>))):<\/span>\n<\/span><\/span>                if<\/span>(<\/span>p<\/span>.<\/span>endswith<\/span>(<\/span>file_filter<\/span>)):<\/span>\n<\/span><\/span>                    print<\/span>(<\/span>"Gerber file <\/span>%s<\/span> found."<\/span> %<\/span> p<\/span>)<\/span>\n<\/span><\/span>                    fileTransform<\/span>(<\/span>os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>path_out_abs<\/span>,<\/span> p<\/span>),<\/span> os<\/span>.<\/span>path<\/span>.<\/span>join<\/span>(<\/span>os<\/span>.<\/span>getcwd<\/span>(),<\/span> path_final<\/span>))<\/span>\n<\/span><\/span>                    file_count<\/span> +=<\/span> 1<\/span>\n<\/span><\/span>\n<\/span><\/span>        timestamp<\/span> =<\/span> datetime<\/span>.<\/span>datetime<\/span>.<\/span>now<\/span>()<\/span>.<\/span>strftime<\/span>(<\/span>'%Y%m<\/span>%d<\/span>%H%M%S'<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>        board<\/span> =<\/span> pcbnew<\/span>.<\/span>GetBoard<\/span>()<\/span>\n<\/span><\/span>        project_name<\/span> =<\/span> os<\/span>.<\/span>path<\/span>.<\/span>splitext<\/span>(<\/span>os<\/span>.<\/span>path<\/span>.<\/span>basename<\/span>(<\/span>board<\/span>.<\/span>GetFileName<\/span>()))[<\/span>0<\/span>]<\/span>\n<\/span><\/span>\n<\/span><\/span>        zipFolder<\/span>(<\/span>path_out_abs<\/span> +<\/span> '\/'<\/span> +<\/span> "final"<\/span>,<\/span> path_out_abs<\/span> +<\/span> '\/'<\/span> +<\/span> "out_"<\/span> +<\/span> project_name<\/span> +<\/span> '-'<\/span> +<\/span> timestamp<\/span> +<\/span> ".zip"<\/span>)<\/span>\n<\/span><\/span>\n<\/span><\/span>        # \u6253\u5f00\u8d44\u6e90\u7ba1\u7406\u5668<\/span>\n<\/span><\/span>        os<\/span>.<\/span>system<\/span>(<\/span>"explorer.exe <\/span>%s<\/span>"<\/span> %<\/span> path_out_abs<\/span>)<\/span>    \n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u5bf9\u6e90\u6587\u4ef6\u8fdb\u884c\u66ff\u6362\uff0c\u628a\u6807*\u7684\u884c\u4e4b\u4e0a\u6362\u4e3a\u81ea\u5df1\u7684\u5de5\u7a0b\u7684\u3002<\/p>\n
\u5728Kicad\u7684\u811a\u672c\u63a7\u5236\u53f0\u4e2d\u8f93\u5165\u5982\u4e0b\uff1a\u6765\u5f15\u5165\u811a\u672c  
\n 
\n\u4efb\u610f\u9009\u62e9\u5176\u4e2d\u4e00\u4e2a\u5730\u5740\u653e\u5165\u4e24\u4e2a.py\u6587\u4ef6\u3002\u4e4b\u540e\u70b9\u51fb\u5de5\u5177-\u5916\u90e8\u63d2\u4ef6-\u5237\u65b0\u63d2\u4ef6\u3002\u51fa\u73b0\u65b0\u7684\u63d2\u4ef6\u5373\u8868\u793a\u6210\u529f\uff0c\u6ce8\u610f\u6587\u4ef6\u7f16\u7801\u4e3aUTF-8\uff0c\u4e0d\u7136\u63d2\u4ef6\u5237\u65b0\u4e0d\u51fa\u6765 
\n\u8f93\u51fa\u65f6\u5019\u9700\u8981\u8f93\u51faGerber\u7684\u65f6\u5019\u5728\u8def\u5f84\u90a3\u91cc\u6572\u4e2a.\/out\uff0c\u4e0d\u7136\u627e\u4e0d\u5230\u6587\u4ef6\u3002
\n\u7136\u540e\u70b9\u51fb\u63d2\u4ef6\u5373\u53ef\u8f93\u51faJLC\u652f\u6301\u7684Gerber\u6587\u4ef6\uff01<\/p>\n"},{"title":"Linux","link":"https:\/\/a233a2.github.io\/p\/linux\/","pubDate":"Mon, 16 Sep 2024 00:00:00 +0000","guid":"https:\/\/a233a2.github.io\/p\/linux\/","description":"
\u5b66\u4e60\u8bb0\u5f55\uff1a \u5b66\u4e60\u8bb0\u5f55<\/a>\u3002 
\n\u5185\u5bb9\uff1aThe Missing Semester of Your CS Education \u4e2d\u6587\u7248<\/a><\/p>\n
LinuxBasic\n<\/h2>
GUI\u548cCLI\u662f\u4e24\u79cd\u7528\u6237\u4e0e\u8ba1\u7b97\u673a\u8fdb\u884c\u4ea4\u4e92\u7684\u65b9\u5f0f\u3002 
\nGUI\uff08Graphical User Interface\uff0c\u56fe\u5f62\u7528\u6237\u754c\u9762\uff09\uff1aGUI\u662f\u4e00\u79cd\u57fa\u4e8e\u56fe\u5f62\u5316\u754c\u9762\u7684\u64cd\u4f5c\u7cfb\u7edf\u7528\u6237\u754c\u9762\u3002    
\nCLI\uff08Command Line Interface\uff0c\u547d\u4ee4\u884c\u754c\u9762\uff09\uff1aCLI\u662f\u4e00\u79cd\u901a\u8fc7\u5728\u547d\u4ee4\u884c\u6216\u7ec8\u7aef\u754c\u9762\u8f93\u5165\u547d\u4ee4\u6765\u4e0e\u8ba1\u7b97\u673a\u8fdb\u884c\u4ea4\u4e92\u7684\u7528\u6237\u754c\u9762\u3002  
\n\u5b89\u88c5PA\u6240\u9700\u5de5\u5177<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span>5\n<\/span>6\n<\/span>7\n<\/span><\/code><\/pre><\/td>\n
\n
apt-get install build-essential    # build-essential packages, include binary utilities, gcc, make, and so on<\/span>\n<\/span><\/span>apt-get install man                # on-line reference manual<\/span>\n<\/span><\/span>apt-get install gcc-doc            # on-line reference manual for gcc<\/span>\n<\/span><\/span>apt-get install gdb                # GNU debugger<\/span>\n<\/span><\/span>apt-get install git                # revision control system<\/span>\n<\/span><\/span>apt-get install libreadline-dev    # a library used later<\/span>\n<\/span><\/span>apt-get install libsdl2-dev        # a library used later<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
Ubuntu \u4e2d\u5b89\u88c5\u4e2d\u6587\u8f93\u5165\u6cd5<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span>5\n<\/span>6\n<\/span>7\n<\/span>8\n<\/span>9\n<\/span><\/code><\/pre><\/td>\n
\n
#\u5b89\u88c5\u6846\u67b6<\/span>\n<\/span><\/span>sudo apt install ibus\n<\/span><\/span>#\u5207\u6362\u6846\u67b6<\/span>\n<\/span><\/span>im-config -s ibus\n<\/span><\/span>#\u7531\u4e8eUbuntu Desktop 20.04\u4f7f\u7528\u7684\u662fGNOME\u684c\u9762\uff0c\u6240\u4ee5\u9700\u8981\u5b89\u88c5\u76f8\u5e94\u7684\u5e73\u53f0\u652f\u6301\u5305<\/span>\n<\/span><\/span>sudo apt install ibus-gtk ibus-gtk3\n<\/span><\/span>#\u9009\u62e9\u7b80\u4f53\u62fc\u97f3\u8f93\u5165\u6cd5\uff0c\u5b8c\u6210\u5b89\u88c5<\/span>\n<\/span><\/span>sudo apt install ibus-pinyin\n<\/span><\/span>#\u5b8c\u6210\u5b89\u88c5\u540e\uff0c\u5c06\u4e2d\u6587\u8f93\u5165\u6cd5\u6dfb\u52a0\u5230\u8f93\u5165\u6e90\u9009\u9879\u4e2d<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u4ee5\u4e0a\u6458\u5f55\u81ea\uff1ahttps:\/\/blog.csdn.net\/Aimonii\/article\/details\/141260938<\/p>\n
Linux\u57fa\u7840\u8bfe\u7a0b\u6982\u89c8\u4e0eshell\n<\/h2>
\n
\n
1\n<\/span><\/code><\/pre><\/td>\n
\n
missing:~$ \n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
$ \u7b26\u53f7\u8868\u793a\u60a8\u73b0\u5728\u7684\u8eab\u4efd\u4e0d\u662f root \u7528\u6237,\u4f4d\u7f6e\u662f ~ (\u8868\u793a \u201chome\u201d)\u3002<\/p>\n
echo\u547d\u4ee4\n<\/h4>
\u200cecho\u547d\u4ee4\u662fLinux\u4e2d\u7528\u4e8e\u5728\u7ec8\u7aef\u8f93\u51fa\u5b57\u7b26\u4e32\u7684\u547d\u4ee4\uff0c\u5e38\u7528\u4e8e\u811a\u672c\u7f16\u7a0b\u3001\u8c03\u8bd5\u548c\u663e\u793a\u53d8\u91cf\u503c\u3002<\/p>\n
which\u547d\u4ee4\n<\/h4>
\u7528\u4e8e\u5b9a\u4f4d\u6267\u884c\u6587\u4ef6\u7684\u8def\u5f84\u3002\u5f53\u8f93\u5165\u4e00\u4e2a\u547d\u4ee4\u65f6\uff0cwhich \u4f1a\u5728\u73af\u5883\u53d8\u91cf PATH \u6240\u6307\u5b9a\u7684\u8def\u5f84\u4e2d\u641c\u7d22\u6bcf\u4e2a\u76ee\u5f55\uff0c\u4ee5\u67e5\u627e\u6307\u5b9a\u7684\u53ef\u6267\u884c\u6587\u4ef6\u3002 \u53ef\u4ee5\u4f7f\u7528 which \u7a0b\u5e8f\u3002\u901a\u8fc7\u76f4\u63a5\u6307\u5b9a\u9700\u8981\u6267\u884c\u7684\u7a0b\u5e8f\u7684\u8def\u5f84\u6765\u6267\u884c\u8be5\u7a0b\u5e8f\u3002<\/p>\n
pwd\u547d\u4ee4\n<\/h4>
\u83b7\u53d6\u5f53\u524d\u5de5\u4f5c\u76ee\u5f55\u3002<\/p>\n
cd\u547d\u4ee4\n<\/h4>
\u5207\u6362\u76ee\u5f55 . \u8868\u793a\u7684\u662f\u5f53\u524d\u76ee\u5f55\uff0c\u800c .. \u8868\u793a\u4e0a\u7ea7\u76ee\u5f55<\/p>\n
ls\u547d\u4ee4\n<\/h4>
\u67e5\u770b\u6307\u5b9a\u76ee\u5f55\u4e0b\u5305\u542b\u54ea\u4e9b\u6587\u4ef6 \u5229\u7528\u7b2c\u4e00\u4e2a\u53c2\u6570\u6307\u5b9a\u76ee\u5f55\uff0c\u5426\u5219 ls \u4f1a\u6253\u5370\u5f53\u524d\u76ee\u5f55\u4e0b\u7684\u6587\u4ef6\u3002       
\n\u901a\u5e38\uff0c\u5728\u6267\u884c\u7a0b\u5e8f\u65f6\u4f7f\u7528 -h \u6216 –help \u6807\u8bb0\u53ef\u4ee5\u6253\u5370\u5e2e\u52a9\u4fe1\u606f\uff0c\u4ee5\u4fbf\u4e86\u89e3\u6709\u54ea\u4e9b\u53ef\u7528\u7684\u6807\u8bb0\u6216\u9009\u9879\u3002<\/p>\n
\n
ls: List directory contents\ndir: Briefly list directory contents\ndir: Verbosely list directory contents\ndircolors: Color setup for ls<\/p>\n
ls -l\u662fLinux\u548cunix\u547d\u4ee4\uff0c\u610f\u601d\u6307\u4ee5\u957f\u683c\u5f0f\u7684\u5f62\u5f0f\u67e5\u770b\u5f53\u524d\u76ee\u5f55\u4e0b\u6240\u6709\u53ef\u89c1\u6587\u4ef6\u7684\u8be6\u7ec6\u5c5e\u6027\u3002<\/p>\n<\/blockquote>\n
man\u547d\u4ee4\n<\/h4>
\u5b83\u4f1a\u63a5\u53d7\u4e00\u4e2a\u7a0b\u5e8f\u540d\u4f5c\u4e3a\u53c2\u6570\uff0c\u7136\u540e\u5c06\u5b83\u7684\u6587\u6863\uff08\u7528\u6237\u624b\u518c\uff09\u5c55\u73b0\u7ed9\u60a8\u3002\u6ce8\u610f\uff0c\u4f7f\u7528 q \u53ef\u4ee5\u9000\u51fa\u8be5\u7a0b\u5e8f\u3002<\/p>\n
cat\u547d\u4ee4\n<\/h4>
cat\u547d\u4ee4\u662fLinux\u7cfb\u7edf\u4e2d\u7528\u4e8e\u67e5\u770b\u3001\u521b\u5efa\u548c\u5408\u5e76\u6587\u4ef6\u5185\u5bb9\u7684\u5de5\u5177\u3002\u200c\u5b83\u6e90\u81ea\u82f1\u6587\u5355\u8bcd\u201cconcatenate\u201d\uff0c\u610f\u4e3a\u201c\u8fde\u63a5\u201d\u3002cat\u547d\u4ee4\u7684\u57fa\u672c\u529f\u80fd\u662f\u5c06\u591a\u4e2a\u6587\u4ef6\u7684\u5185\u5bb9\u4e32\u8054\u8d77\u6765\u663e\u793a\u5728\u6807\u51c6\u8f93\u51fa\uff08\u901a\u5e38\u662f\u7ec8\u7aef\uff09\u4e0a\u3002<\/p>\n
\n
\u67e5\u770b\u5355\u4e2a\u6587\u4ef6\u7684\u5185\u5bb9\u200c\uff1a\u4f7f\u7528\u547d\u4ee4 cat filename\u3002\n\u521b\u5efa\u65b0\u6587\u4ef6\u5e76\u8f93\u5165\u5185\u5bb9\u200c\uff1a\u4f7f\u7528\u547d\u4ee4 cat > newfile\uff0c\u7528\u6237\u53ef\u4ee5\u5728\u7ec8\u7aef\u4e2d\u8f93\u5165\u5185\u5bb9\uff0c\u7136\u540e\u4f7f\u7528Ctrl+D\u4fdd\u5b58\u6587\u4ef6\u3002\n\u200c\u5408\u5e76\u591a\u4e2a\u6587\u4ef6\u7684\u5185\u5bb9\u200c\uff1a\u4f7f\u7528\u547d\u4ee4 cat file1 file2\uff0c\u8fd9\u5c06\u5408\u5e76file1\u548cfile2\u7684\u5185\u5bb9\u5e76\u663e\u793a\u5728\u7ec8\u7aef\u4e0a\u3002\n\u200c\u91cd\u5b9a\u5411\u8f93\u51fa\u200c\uff1a\u53ef\u4ee5\u5c06\u547d\u4ee4\u7684\u8f93\u51fa\u91cd\u5b9a\u5411\u5230\u6587\u4ef6\u4e2d\uff0c\u4f7f\u7528 > \u7b26\u53f7\u521b\u5efa\u65b0\u6587\u4ef6\uff0c\u4f7f\u7528 » \u7b26\u53f7\u5c06\u5185\u5bb9\u9644\u52a0\u5230\u73b0\u6709\u6587\u4ef6\u3002\u200c<\/p>\n<\/blockquote>\n
touch\u547d\u4ee4\n<\/h4>
\u521b\u5efa\u4e00\u4e2a\u6587\u4ef6\u3002<\/p>\n
mkdir\u547d\u4ee4\n<\/h4>
\u521b\u5efa\u65b0\u6587\u4ef6\u5939<\/p>\n
rm\u547d\u4ee4\n<\/h4>
\u5220\u9664\u6307\u5b9a\u7684\u6587\u4ef6\u3002\u8c28\u614e\u4f7f\u7528<\/strong><\/p>\n
\n
rm <\u6587\u4ef6\u540d>\uff1a\u5220\u9664\u6307\u5b9a\u7684\u6587\u4ef6\u3002\nrm -r <\u76ee\u5f55\u540d>\uff1a\u9012\u5f52\u5220\u9664\u6307\u5b9a\u76ee\u5f55\u4e0b\u7684\u6240\u6709\u6587\u4ef6\u548c\u5b50\u76ee\u5f55\u3002\nrm -f <\u6587\u4ef6\u540d>\uff1a\u5f3a\u5236\u5220\u9664\uff0c\u4e0d\u8fdb\u884c\u786e\u8ba4\u63d0\u793a\u3002\nrm -i <\u6587\u4ef6\u540d>\uff1a\u5728\u5220\u9664\u524d\u8fdb\u884c\u786e\u8ba4\u63d0\u793a\u3002<\/p>\n<\/blockquote>\n
\u91cd\u5b9a\u5411\u8f93\u5165\u8f93\u51fa\u6d41\n<\/h4>
< file<\/code>\u548c > file<\/code><\/p>\n
\n
\n
1\n<\/span><\/code><\/pre><\/td>\n
\n
echo<\/span> hello > hello.txt  \n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u7ed9hello.txt\u91cc\u9762\u5199\u5165hello\u3002<\/p>\n
sudo\n<\/h4>
root\u63d0\u5347\u6743\u9650\u3002<\/p>\n
chmod\u547d\u4ee4\n<\/h4>
chmod\uff08change mode\uff09\u547d\u4ee4\u662f\u7528\u4e8e\u63a7\u5236\u7528\u6237\u5bf9\u6587\u4ef6\u7684\u6743\u9650\u7684\u547d\u4ee4\u3002     
\nLinux\/Unix \u7684\u6587\u4ef6\u8c03\u7528\u6743\u9650\u5206\u4e3a\u4e09\u7ea7 : \u6587\u4ef6\u6240\u6709\u8005\uff08Owner\uff09\u3001\u7528\u6237\u7ec4\uff08Group\uff09\u3001\u5176\u5b83\u7528\u6237\uff08Other Users\uff09\u5982\u4e0b\uff1a  
\n   
\n\u53ea\u6709\u6587\u4ef6\u6240\u6709\u8005\u548c\u8d85\u7ea7\u7528\u6237\u53ef\u4ee5\u4fee\u6539\u6587\u4ef6\u6216\u76ee\u5f55\u7684\u6743\u9650\u3002\u53ef\u4ee5\u4f7f\u7528\u7edd\u5bf9\u6a21\u5f0f\uff08\u516b\u8fdb\u5236\u6570\u5b57\u6a21\u5f0f\uff09\uff0c\u7b26\u53f7\u6a21\u5f0f\u6307\u5b9a\u6587\u4ef6\u7684\u6743\u9650\uff0c\u800c\u4f7f\u7528\u6743\u9650\u5219\u4e3a\u6240\u6709\u4f7f\u7528\u8005\u3002   
\nchmod 777 file<\/code> \u7ed9\u5168\u90e8\u6743\u9650\u6253\u5f00\u3002\u8bfb + \u5199 + \u6267\u884c<\/p>\n
\n
\n
1\n<\/span>2\n<\/span><\/code><\/pre><\/td>\n
\n
chmod 777<\/span> file\/\/\u8868\u793aUser\u3001Group\u3001\u53caOther\u7684\u6743\u9650\u90fd\u8bbe\u4e3arwx\n<\/span><\/span>chmod 764<\/span> file\/\/\u8868\u793aUser\u3001Group\u3001\u53caOther\u7684\u6743\u9650\u5206\u522b\u4e3arwx\u3001rw-\u3001r--\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u4ee5\u4e0a\u6458\u5f55\u81ea\uff1ahttps:\/\/blog.csdn.net\/qq_52836452\/article\/details\/129642664<\/p>\n
sh\u547d\u4ee4\n<\/h4>
sh\u662flinux\u4e2d\u8fd0\u884cshell\u7684\u547d\u4ee4\uff0c\u662fshell\u7684\u89e3\u91ca\u5668\uff0cshell\u811a\u672c\u662flinux\u4e2d\u58f3\u5c42\u4e0e\u547d\u4ee4\u884c\u754c\u9762\uff0c\u7528\u6237\u53ef\u4ee5\u5728shell\u811a\u672c\u8f93\u5165\u547d\u4ee4\u6765\u6267\u884c\u5404\u79cd\u5404\u6837\u7684\u4efb\u52a1\u3002\nshell\u7a0b\u5e8f\u5fc5\u987b\u4ee5\u201c#!\/bin\/sh\u201d\u5f00\u59cb\u3002shell\u4e2d#\u4e00\u822c\u8868\u793a\u6ce8\u91ca\u7684\u610f\u601d\uff0c\u6240\u4ee5\u5f88\u591a\u65f6\u5019\u8ba4\u4e3a"#!“\u4e5f\u662f\u6ce8\u91ca\uff0c\u4f46\u5b9e\u9645\u4e0a\u5e76\u4e0d\u662f\u3002<\/p>\n
\n
PS\n“#!\/bin\/sh"\u662f\u5bf9shell\u7684\u58f0\u660e\uff0c\u8bf4\u660e\u4f60\u6240\u7528\u7684\u662f\u54ea\u79cd\u7c7b\u578b\u7684shell\u53ca\u5176\u8def\u5f84\u6240\u5728\u3002     
\n#!\/bin\/\u662f\u6307\u6b64\u811a\u672c\u4f7f\u7528.bin\/sh\u6765\u6267\u884c\u3002    
\n#!\u662f\u7279\u6b8a\u7684\u8868\u793a\u7b26\uff0c\u5176\u540e\u9762\u8ddf\u7684\u662f\u89e3\u91ca\u6b64\u811a\u672c\u7684shell\u7684\u8def\u5f84\uff0c\u5982\u679c\u6ca1\u6709\u58f0\u660e\uff0c\u5219\u811a\u672c\u5c06\u5728\u9ed8\u8ba4\u7684shell\u4e2d\u6267\u884c\uff0c\u9ed8\u8ba4shell\u662f\u7531\u7528\u6237\u6240\u5728\u7684\u7cfb\u7edf\u5b9a\u4e49\u4e3a\u6267\u884cshell\u811a\u672c\uff0c\u5982\u679c\u811a\u672c\u88ab\u7f16\u5199\u4e3a\u5728Kornshell ksh\u4e2d\u8fd0\u884c\uff0c\u800c\u9ed8\u8ba4\u8fd0\u884cshell\u811a\u672c\u7684\u4e3aC shell csh,\u5219\u811a\u672c\u5728\u6267\u884c\u8fc7\u7a0b\u4e2d\u5f88\u53ef\u80fd\u5931\u8d25\u3002\u6240\u4ee5\u5efa\u8bae\u5927\u5bb6\u5c31\u628a”#!\/bin\/sh"\u5f53\u6210C \u8bed\u8a00\u7684main\u51fd\u6570\u4e00\u6837\uff0c\u5199shell\u5fc5\u987b\u6709\uff0c\u4ee5\u4f7fshell\u7a0b\u5e8f\u66f4\u4e25\u5bc6\u3002<\/p>\n<\/blockquote>\n
\u4ee5\u4e0a\u6458\u5f55\u81ea\uff1ahttps:\/\/blog.csdn.net\/mrsgflmx\/article\/details\/143429498          
\nWSL2\u4e0b\u67e5\u770b\u7b14\u8bb0\u672c\u7535\u91cf\u3002\u865a\u62df\u673a\u65e0\u6b64\u6570\u636e\uff0c\u65e0\u6cd5\u67e5\u770b\u3002  
\n<\/p>\n
Shell\u5de5\u5177\u548c\u811a\u672c\n<\/h2>
‘xx’\u4e0e"xx"\u7b26\u53f7\u7684\u533a\u522b<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span>5\n<\/span><\/code><\/pre><\/td>\n
\n
foo<\/span>=<\/span>bar\n<\/span><\/span>echo<\/span> "<\/span>$foo<\/span>"<\/span>\n<\/span><\/span># \u6253\u5370 bar<\/span>\n<\/span><\/span>echo<\/span> '$foo'<\/span>\n<\/span><\/span># \u6253\u5370 $foo<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
bash\u652f\u6301\u51fd\u6570\u64cd\u4f5c<\/p>\n
\n
\n
1\n<\/span>2\n<\/span>3\n<\/span>4\n<\/span><\/code><\/pre><\/td>\n
\n
mcd ()<\/span> {<\/span>\n<\/span><\/span>    mkdir -p "<\/span>$1<\/span>"<\/span>\n<\/span><\/span>    cd<\/span> "<\/span>$1<\/span>"<\/span>\n<\/span><\/span>}<\/span>\n<\/span><\/span><\/code><\/pre><\/td><\/tr><\/table>\n<\/div>\n<\/div>
\u8fd9\u91cc $1 \u662f\u811a\u672c\u7684\u7b2c\u4e00\u4e2a\u53c2\u6570\u3002\u4e0e\u5176\u4ed6\u811a\u672c\u8bed\u8a00\u4e0d\u540c\u7684\u662f\uff0cbash \u4f7f\u7528\u4e86\u5f88\u591a\u7279\u6b8a\u7684\u53d8\u91cf\u6765\u8868\u793a\u53c2\u6570\u3001\u9519\u8bef\u4ee3\u7801\u548c\u76f8\u5173\u53d8\u91cf\u3002<\/p>\n